Yuta Uenodai / encoder

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   backdrive backdrive_3

encoder.h

Committer:
takenowa
Date:
2018-06-04
Revision:
0:4b99060621fd
Child:
2:4bb7c8730d91

File content as of revision 0:4b99060621fd:

#ifndef ENCODER_H
#define ENCODER_H

#include "mbed.h"
#include "arm_math.h"

enum CH{
	DISTANCE,
	RPM,
	VELOCITY,
	ACCELERATION,
	OMEGA,
	DELTA_DISTANCE,
};

enum TYPE_NUMBER{
	NORMAL,
	DELTA,
	TYPE_NUMBER,
};

enum BEFORE_NUMBER{
	NOW,
	ONE_BEFORE,
	TWO_BEFORE,
	BEFORE_NUMBER,
};

class Encoder
{
    public:
        Encoder(PinName aPhase , PinName bPhase );
        void calState();
		
		float getState(int ch);
		
		void reset();
		
        void init(float _ppr, float _radius,float _dt);

    private:
  		void read();
		
		float rpm, distance, omega, velocity, radius, delta_distance,
        	  ppr, dt, dt_square, circle, acceleration;
        	  
		float count[TYPE_NUMBER][BEFORE_NUMBER];
        InterruptIn aPhase;
        DigitalIn   bPhase;
};

#endif