Diff: sensor/rotary_inc_sp.hpp

Revision:

2:e7b09385d197

Parent:

0:1456b6f84c75

Child:

22:394337a4205a

diff -r 744e1f66d5dc -r e7b09385d197 sensor/rotary_inc_sp.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor/rotary_inc_sp.hpp	Sun Mar 27 04:39:16 2022 +0000
@@ -0,0 +1,52 @@
+#ifndef ROTARY_INC_H
+#define ROTARY_INC_H
+#include "mbed.h"
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+/*ロータリーエンコーダーを使う。
+ *速度計測は、タイヤの円周とロリコンの分解能を指定した場合に有効になる。
+ *RotaryInc(PinName pinA, PinName pinB,double circumference,int Resolution,int mode = 0);//速度計測有効
+ *RotaryInc(PinName pinA, PinName pinB,int mode = 0);//速度計測無効
+ */
+//RotaryInc rotary(PA_1,PA_3,2 * 50.8 * M_PI,200);
+
+class RotaryInc{
+public:
+    RotaryInc(PinName user_a, PinName user_b,double circumference,int resolution,int mode = 0);//速度計測有効
+    RotaryInc(PinName user_a, PinName user_b,int mode = 0);//速度計測無効
+    RotaryInc();
+    ~RotaryInc();
+    long long get();
+    double getSpeed();
+    void reset(); 
+    int diff();
+    void specinit(PinName user_a, PinName user_b,double circumference,int resolution,int mode);
+private:
+    InterruptIn *pin_a_,*pin_b_;
+    Timer timer_;
+    long long pulse_;
+    long long last_[20];
+    long long prev_;
+    int count_;
+    int mode_;
+    int resolution_;
+    double now_;
+    double sum_;
+    double pre_t_[20];
+    double speed_;
+    double circumference_;
+    bool measur_;
+    bool start_frag_;
+    bool flag_;
+    void init(PinName,PinName);
+    void riseA(void);
+    void riseB(void);
+    void fallA(void);
+    void fallB(void);
+    void calcu(void);
+    void zero(void);
+};
+
+#endif /* ROTARY_INC_H */
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