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.cpp.orig@4:69be34f39c9f, 2014-09-29 (annotated)

Committer:
vsluiter
Date:
Mon Sep 29 15:51:28 2014 +0000
Revision:
4:69be34f39c9f
Merged versions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 4:69be34f39c9f 1
vsluiter 4:69be34f39c9f 2 #include "encoder.h"
vsluiter 4:69be34f39c9f 3
vsluiter 4:69be34f39c9f 4 Encoder::Encoder(PinName pos_a, PinName pos_b) : pin_a(pos_a), pin_b(pos_b)
vsluiter 4:69be34f39c9f 5 {
vsluiter 4:69be34f39c9f 6 DigitalOut rled(LED_RED);
vsluiter 4:69be34f39c9f 7 rled = 0;
vsluiter 4:69be34f39c9f 8 EncoderTimer.start();
vsluiter 4:69be34f39c9f 9 pin_a.mode(PullUp);
vsluiter 4:69be34f39c9f 10 pin_b.mode(PullUp);
vsluiter 4:69be34f39c9f 11 pin_a.fall(this,&Encoder::encoderFalling);
vsluiter 4:69be34f39c9f 12 pin_a.rise(this,&Encoder::encoderRising);
vsluiter 4:69be34f39c9f 13 m_position = 0;
vsluiter 4:69be34f39c9f 14 m_speed = 0;
vsluiter 4:69be34f39c9f 15 zero_speed = false;
vsluiter 4:69be34f39c9f 16 }
vsluiter 4:69be34f39c9f 17
vsluiter 4:69be34f39c9f 18 void Encoder::encoderFalling(void)
vsluiter 4:69be34f39c9f 19 {
vsluiter 4:69be34f39c9f 20 //temporary speed storage, in case higher interrupt level does stuff
vsluiter 4:69be34f39c9f 21 float temp_speed;
vsluiter 4:69be34f39c9f 22 //int motortime_now = EncoderTimer.read_us();
vsluiter 4:69be34f39c9f 23 //EncoderTimer.reset();
vsluiter 4:69be34f39c9f 24 //EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
vsluiter 4:69be34f39c9f 25 /*calculate as ticks per second*/
vsluiter 4:69be34f39c9f 26 //if(zero_speed)
vsluiter 4:69be34f39c9f 27 // temp_speed = 0;
vsluiter 4:69be34f39c9f 28 //else
vsluiter 4:69be34f39c9f 29 // temp_speed = 1000000./motortime_now;
vsluiter 4:69be34f39c9f 30 //zero_speed = false;
vsluiter 4:69be34f39c9f 31 if(pin_b)
vsluiter 4:69be34f39c9f 32 {
vsluiter 4:69be34f39c9f 33 m_position++;
vsluiter 4:69be34f39c9f 34 m_speed = temp_speed;
vsluiter 4:69be34f39c9f 35 }
vsluiter 4:69be34f39c9f 36 else
vsluiter 4:69be34f39c9f 37 {
vsluiter 4:69be34f39c9f 38 m_position--;
vsluiter 4:69be34f39c9f 39 m_speed = -temp_speed; //negative speed
vsluiter 4:69be34f39c9f 40 }
vsluiter 4:69be34f39c9f 41 }
vsluiter 4:69be34f39c9f 42
vsluiter 4:69be34f39c9f 43 void Encoder::encoderRising(void)
vsluiter 4:69be34f39c9f 44 {
vsluiter 4:69be34f39c9f 45 //temporary speed storage, in case higher interrupt level does stuff
vsluiter 4:69be34f39c9f 46 float temp_speed;
vsluiter 4:69be34f39c9f 47 //int motortime_now = EncoderTimer.read_us();
vsluiter 4:69be34f39c9f 48 //EncoderTimer.reset();
vsluiter 4:69be34f39c9f 49 //EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
vsluiter 4:69be34f39c9f 50 /*calculate as ticks per second*/
vsluiter 4:69be34f39c9f 51 //if(zero_speed)
vsluiter 4:69be34f39c9f 52 // temp_speed = 0;
vsluiter 4:69be34f39c9f 53 //else
vsluiter 4:69be34f39c9f 54 // temp_speed = 1000000./motortime_now;
vsluiter 4:69be34f39c9f 55 //zero_speed = false;
vsluiter 4:69be34f39c9f 56 if(pin_b)
vsluiter 4:69be34f39c9f 57 {
vsluiter 4:69be34f39c9f 58 m_position--;
vsluiter 4:69be34f39c9f 59 m_speed = -temp_speed; //negative speed
vsluiter 4:69be34f39c9f 60 }
vsluiter 4:69be34f39c9f 61 else
vsluiter 4:69be34f39c9f 62 {
vsluiter 4:69be34f39c9f 63 m_position++;
vsluiter 4:69be34f39c9f 64 m_speed = temp_speed;
vsluiter 4:69be34f39c9f 65 }
vsluiter 4:69be34f39c9f 66 }
vsluiter 4:69be34f39c9f 67
vsluiter 4:69be34f39c9f 68 void Encoder::timeouthandler(void)
vsluiter 4:69be34f39c9f 69 {
vsluiter 4:69be34f39c9f 70 m_speed = 0;
vsluiter 4:69be34f39c9f 71 zero_speed = true;
vsluiter 4:69be34f39c9f 72 }