First Last / Encoder

Library to read out speed and position from a quadrature encoder. This library uses X2 decoding.

Dependents:   BMT-K9_encoder BMT-K9-Regelaar K9motoraansturing_copy EMGverwerking ... more

encoder.h@2:0998a8fd7727, 2013-11-04 (annotated)

Committer:
vsluiter
Date:
Mon Nov 04 09:56:06 2013 +0000
Revision:
2:0998a8fd7727
Parent:
1:2dd7853c911a
Child:
4:69be34f39c9f
Changed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:c90b36abcbf8 1 #ifndef _ENCODER_H_
vsluiter 0:c90b36abcbf8 2 #define _ENCODER_H_
vsluiter 0:c90b36abcbf8 3
vsluiter 0:c90b36abcbf8 4 #include "mbed.h"
vsluiter 1:2dd7853c911a 5 /** Encoder class.
vsluiter 1:2dd7853c911a 6 * Used to read out incremental position encoder. Decodes position in X2 configuration.
vsluiter 1:2dd7853c911a 7 *
vsluiter 1:2dd7853c911a 8 * Example:
vsluiter 1:2dd7853c911a 9 * @code
vsluiter 1:2dd7853c911a 10 * #include "mbed.h"
vsluiter 1:2dd7853c911a 11 * #include "Encoder.h"
vsluiter 1:2dd7853c911a 12 *
vsluiter 1:2dd7853c911a 13 * Encoder motor1(PTD0,PTC9);
vsluiter 1:2dd7853c911a 14 * Serial pc(USBTX,USBRX);
vsluiter 1:2dd7853c911a 15 * pc.baud(115200);
vsluiter 1:2dd7853c911a 16 * while(1) {
vsluiter 1:2dd7853c911a 17 * wait(0.2);
vsluiter 1:2dd7853c911a 18 * pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
vsluiter 1:2dd7853c911a 19 * }
vsluiter 1:2dd7853c911a 20 * @endcode
vsluiter 1:2dd7853c911a 21 */
vsluiter 0:c90b36abcbf8 22 class Encoder
vsluiter 0:c90b36abcbf8 23 {
vsluiter 0:c90b36abcbf8 24 public:
vsluiter 1:2dd7853c911a 25 /** Create Encoder instance
vsluiter 1:2dd7853c911a 26 @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn.
vsluiter 1:2dd7853c911a 27 @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location
vsluiter 1:2dd7853c911a 28 */
vsluiter 2:0998a8fd7727 29 Encoder(PinName pos_a, PinName pos_b);
vsluiter 1:2dd7853c911a 30 /** Request position
vsluiter 1:2dd7853c911a 31 @returns current position in encoder counts
vsluiter 1:2dd7853c911a 32 */
vsluiter 0:c90b36abcbf8 33 int32_t getPosition(){return m_position;}
vsluiter 1:2dd7853c911a 34 /** Overwrite position
vsluiter 1:2dd7853c911a 35 @param pos position to be written
vsluiter 1:2dd7853c911a 36 */
vsluiter 0:c90b36abcbf8 37 void setPosition(int32_t pos){m_position = pos;}
vsluiter 1:2dd7853c911a 38 /** Request speed
vsluiter 1:2dd7853c911a 39 @returns current speed
vsluiter 1:2dd7853c911a 40 */
vsluiter 0:c90b36abcbf8 41 float getSpeed(){return m_speed;}
vsluiter 0:c90b36abcbf8 42 private:
vsluiter 0:c90b36abcbf8 43 void encoderFalling(void);
vsluiter 0:c90b36abcbf8 44 void encoderRising(void);
vsluiter 0:c90b36abcbf8 45 Timer EncoderTimer;
vsluiter 2:0998a8fd7727 46 //Timeout EncoderTimeout;
vsluiter 0:c90b36abcbf8 47 InterruptIn pin_a;
vsluiter 0:c90b36abcbf8 48 DigitalIn pin_b;
vsluiter 0:c90b36abcbf8 49 int32_t m_position;
vsluiter 0:c90b36abcbf8 50 float m_speed;
vsluiter 0:c90b36abcbf8 51 void timeouthandler(void);
vsluiter 0:c90b36abcbf8 52 bool zero_speed;
vsluiter 0:c90b36abcbf8 53 };
vsluiter 0:c90b36abcbf8 54
vsluiter 0:c90b36abcbf8 55
vsluiter 0:c90b36abcbf8 56 #endif //_ENCODER_H_