rotary_inc_sp.hpp

00001 #ifndef ROTARY_INC_H
00002 #define ROTARY_INC_H
00003 #include "mbed.h"
00004 #include "portSet.hpp"
00005 #ifndef M_PI
00006 #define M_PI 3.14159265358979
00007 #endif
00008 
00009 /*ロータリーエンコーダーを使う。
00010  *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。
00011  *RotaryInc(PinName pinA, PinName pinB,double circumference,int Resolution,int mode = 0);//速度計測有効
00012  *RotaryInc(PinName pinA, PinName pinB,int mode = 0);//速度計測無効
00013  */
00014 //RotaryInc rotary(PA_1,PA_3,2 * 50.8 * M_PI,200);
00015 
00016 class RotaryInc{
00017 public:
00018     RotaryInc(PinName user_a, PinName user_b,double circumference,int resolution,int mode = 0);//速度計測有効
00019     RotaryInc(PinName user_a, PinName user_b,int mode = 0);//速度計測無効
00020     RotaryInc(Port port,double circumference,int resolution,int mode = 0);
00021     RotaryInc();
00022     ~RotaryInc();
00023     long long get();
00024     double getSpeed();
00025     void reset(); 
00026     int diff();
00027     void specinit(PinName user_a, PinName user_b,double circumference,int resolution,int mode);
00028 private:
00029     InterruptIn *pin_a_,*pin_b_;
00030     Timer timer_;
00031     long long pulse_;
00032     long long last_[20];
00033     long long prev_;
00034     int count_;
00035     int mode_;
00036     int resolution_;
00037     double now_;
00038     double sum_;
00039     double pre_t_[20];
00040     double speed_;
00041     double circumference_;
00042     bool measur_;
00043     bool start_frag_;
00044     bool flag_;
00045     void init(PinName,PinName);
00046     void riseA(void);
00047     void riseB(void);
00048     void fallA(void);
00049     void fallB(void);
00050     void calcu(void);
00051     void zero(void);
00052 };
00053 
00054 #endif /* ROTARY_INC_H */