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

Files at this revision

API Documentation at this revision

Revision 8:dd1732f51780, committed 2019-05-03

Comitter:
takenowa
Date:
Fri May 03 08:36:12 2019 +0000
Parent:
4:c99eb511ac08
Commit message:
removed divide calculate

Changed in this revision

encoder.cpp Show annotated file Show diff for this revision Revisions of this file
encoder.h Show annotated file Show diff for this revision Revisions of this file 
--- a/encoder.cpp	Sat Jan 05 07:16:33 2019 +0000
+++ b/encoder.cpp	Fri May 03 08:36:12 2019 +0000
@@ -7,12 +7,12 @@
     count[DELTA][ONE_BEFORE] = count[NORMAL][ONE_BEFORE] - count[NORMAL][TWO_BEFORE];
     count[DELTA][CURRENT]    = count[NORMAL][CURRENT] - count[NORMAL][ONE_BEFORE];
     
-    distance = count[NORMAL][CURRENT] * circle / ppr;
-    rpm = (count[DELTA][CURRENT]/ppr) * 60 / dt;
-    velocity = (count[DELTA][CURRENT]/ppr)*circle/dt;
+    distance = count[NORMAL][CURRENT] * circle * ppr_rev;
+    rpm = (count[DELTA][CURRENT]) * 60 *dt_rev * ppr_rev;
+    velocity = (count[DELTA][CURRENT])*circle*dt_rev * ppr_rev;
     //acceleration = (count[DELTA][CURRENT]-count[DELTA][ONE_BEFORE])/(dt_square*ppr) * circle;
     //omega = (2*PI*count[DELTA][CURRENT])/(ppr*dt);
-    delta_distance = (count[DELTA][CURRENT]/ppr)*circle;
+    delta_distance = (count[DELTA][CURRENT])*circle*ppr_rev;
     //1つ前・2つ前のデータを更新
     count[NORMAL][TWO_BEFORE] = count[NORMAL][ONE_BEFORE];
     count[NORMAL][ONE_BEFORE] = count[NORMAL][CURRENT];
@@ -89,7 +89,8 @@
     dt_square = dt*dt;
     circle  = PI*2.0f*_radius;
     radius = _radius;
-    
+    dt_rev = 1/dt;
+    ppr_rev = 1/ppr;
     switch(mode){
         case X1_ENCODE:
             aPhase.rise(this,&Encoder::readAphaseRise);

--- a/encoder.h	Sat Jan 05 07:16:33 2019 +0000
+++ b/encoder.h	Fri May 03 08:36:12 2019 +0000
@@ -52,7 +52,7 @@
 		void readBphaseFall();
 		float rpm, distance, omega, velocity, radius, delta_distance,
         	  ppr, dt, dt_square, circle, acceleration;
-        	  
+	  	float ppr_rev, dt_rev;
 		float count[TYPE_NUMBER][BEFORE_NUMBER];/* = {
 			{[NORMAL][NOW], [NORMAL][ONE_BEFORE], [NORMAL][TWO_BEFORE]},
 			{[DELTA][NOW], [DELTA][ONE_BEFORE], [DELTA][TWO_BEFORE]}