r_test1_2017_10_11_Wed_A
Fork of QEI by
QEI.cpp@1:8658787f9ec5, 2017-10-11 (annotated)
- Committer:
- shobonwarrior
- Date:
- Wed Oct 11 08:14:24 2017 +0000
- Revision:
- 1:8658787f9ec5
- Parent:
- 0:5c2ad81551aa
r_test1_2017/10/11/Wed_A
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aberk | 0:5c2ad81551aa | 1 | #include "QEI.h" |
shobonwarrior | 1:8658787f9ec5 | 2 | |
aberk | 0:5c2ad81551aa | 3 | QEI::QEI(PinName channelA, |
aberk | 0:5c2ad81551aa | 4 | PinName channelB, |
aberk | 0:5c2ad81551aa | 5 | PinName index, |
aberk | 0:5c2ad81551aa | 6 | int pulsesPerRev, |
shobonwarrior | 1:8658787f9ec5 | 7 | Encoding encoding |
shobonwarrior | 1:8658787f9ec5 | 8 | ) : channelA_(channelA), channelB_(channelB), |
aberk | 0:5c2ad81551aa | 9 | index_(index) { |
shobonwarrior | 1:8658787f9ec5 | 10 | |
aberk | 0:5c2ad81551aa | 11 | pulses_ = 0; |
aberk | 0:5c2ad81551aa | 12 | revolutions_ = 0; |
aberk | 0:5c2ad81551aa | 13 | pulsesPerRev_ = pulsesPerRev; |
aberk | 0:5c2ad81551aa | 14 | encoding_ = encoding; |
shobonwarrior | 1:8658787f9ec5 | 15 | |
aberk | 0:5c2ad81551aa | 16 | //Workout what the current state is. |
aberk | 0:5c2ad81551aa | 17 | int chanA = channelA_.read(); |
aberk | 0:5c2ad81551aa | 18 | int chanB = channelB_.read(); |
shobonwarrior | 1:8658787f9ec5 | 19 | |
aberk | 0:5c2ad81551aa | 20 | //2-bit state. |
aberk | 0:5c2ad81551aa | 21 | currState_ = (chanA << 1) | (chanB); |
aberk | 0:5c2ad81551aa | 22 | prevState_ = currState_; |
shobonwarrior | 1:8658787f9ec5 | 23 | |
aberk | 0:5c2ad81551aa | 24 | channelA_.rise(this, &QEI::encode); |
aberk | 0:5c2ad81551aa | 25 | channelA_.fall(this, &QEI::encode); |
shobonwarrior | 1:8658787f9ec5 | 26 | |
shobonwarrior | 1:8658787f9ec5 | 27 | |
aberk | 0:5c2ad81551aa | 28 | if (encoding == X4_ENCODING) { |
aberk | 0:5c2ad81551aa | 29 | channelB_.rise(this, &QEI::encode); |
aberk | 0:5c2ad81551aa | 30 | channelB_.fall(this, &QEI::encode); |
aberk | 0:5c2ad81551aa | 31 | } |
aberk | 0:5c2ad81551aa | 32 | if (index != NC) { |
aberk | 0:5c2ad81551aa | 33 | index_.rise(this, &QEI::index); |
aberk | 0:5c2ad81551aa | 34 | } |
shobonwarrior | 1:8658787f9ec5 | 35 | |
aberk | 0:5c2ad81551aa | 36 | } |
shobonwarrior | 1:8658787f9ec5 | 37 | |
aberk | 0:5c2ad81551aa | 38 | void QEI::reset(void) { |
shobonwarrior | 1:8658787f9ec5 | 39 | |
aberk | 0:5c2ad81551aa | 40 | pulses_ = 0; |
aberk | 0:5c2ad81551aa | 41 | revolutions_ = 0; |
shobonwarrior | 1:8658787f9ec5 | 42 | round_rev = 0; |
shobonwarrior | 1:8658787f9ec5 | 43 | sumangle = angle_ =0; |
aberk | 0:5c2ad81551aa | 44 | } |
shobonwarrior | 1:8658787f9ec5 | 45 | void QEI::set(int pul , int rev) { |
shobonwarrior | 1:8658787f9ec5 | 46 | |
shobonwarrior | 1:8658787f9ec5 | 47 | pulses_ = pul; |
shobonwarrior | 1:8658787f9ec5 | 48 | revolutions_ = rev; |
shobonwarrior | 1:8658787f9ec5 | 49 | |
shobonwarrior | 1:8658787f9ec5 | 50 | } |
aberk | 0:5c2ad81551aa | 51 | int QEI::getCurrentState(void) { |
shobonwarrior | 1:8658787f9ec5 | 52 | |
aberk | 0:5c2ad81551aa | 53 | return currState_; |
shobonwarrior | 1:8658787f9ec5 | 54 | |
aberk | 0:5c2ad81551aa | 55 | } |
shobonwarrior | 1:8658787f9ec5 | 56 | |
aberk | 0:5c2ad81551aa | 57 | int QEI::getPulses(void) { |
shobonwarrior | 1:8658787f9ec5 | 58 | |
aberk | 0:5c2ad81551aa | 59 | return pulses_; |
shobonwarrior | 1:8658787f9ec5 | 60 | |
shobonwarrior | 1:8658787f9ec5 | 61 | } |
shobonwarrior | 1:8658787f9ec5 | 62 | |
shobonwarrior | 1:8658787f9ec5 | 63 | int QEI::getRevolutions(void) { |
shobonwarrior | 1:8658787f9ec5 | 64 | |
shobonwarrior | 1:8658787f9ec5 | 65 | return revolutions_; |
shobonwarrior | 1:8658787f9ec5 | 66 | |
aberk | 0:5c2ad81551aa | 67 | } |
shobonwarrior | 1:8658787f9ec5 | 68 | double QEI::getAngle() |
shobonwarrior | 1:8658787f9ec5 | 69 | { |
shobonwarrior | 1:8658787f9ec5 | 70 | return angle_; |
shobonwarrior | 1:8658787f9ec5 | 71 | } |
shobonwarrior | 1:8658787f9ec5 | 72 | int QEI::getAng_rev() |
shobonwarrior | 1:8658787f9ec5 | 73 | { |
shobonwarrior | 1:8658787f9ec5 | 74 | return round_rev; |
shobonwarrior | 1:8658787f9ec5 | 75 | } |
shobonwarrior | 1:8658787f9ec5 | 76 | double QEI::getSumangle() |
shobonwarrior | 1:8658787f9ec5 | 77 | { |
shobonwarrior | 1:8658787f9ec5 | 78 | return sumangle; |
aberk | 0:5c2ad81551aa | 79 | } |
shobonwarrior | 1:8658787f9ec5 | 80 | |
shobonwarrior | 1:8658787f9ec5 | 81 | double QEI::getRPM() |
shobonwarrior | 1:8658787f9ec5 | 82 | { |
shobonwarrior | 1:8658787f9ec5 | 83 | static double prev_angle; |
shobonwarrior | 1:8658787f9ec5 | 84 | Mper.stop(); |
shobonwarrior | 1:8658787f9ec5 | 85 | |
shobonwarrior | 1:8658787f9ec5 | 86 | RPM = (sumangle - prev_angle) / Mper.read() * 60.0 / 360; |
shobonwarrior | 1:8658787f9ec5 | 87 | Mper.reset(); |
shobonwarrior | 1:8658787f9ec5 | 88 | Mper.start(); |
shobonwarrior | 1:8658787f9ec5 | 89 | prev_angle = sumangle; |
shobonwarrior | 1:8658787f9ec5 | 90 | return RPM; |
shobonwarrior | 1:8658787f9ec5 | 91 | } |
shobonwarrior | 1:8658787f9ec5 | 92 | double QEI::getRPS() |
shobonwarrior | 1:8658787f9ec5 | 93 | { |
shobonwarrior | 1:8658787f9ec5 | 94 | static double prev_angle; |
shobonwarrior | 1:8658787f9ec5 | 95 | Rper.stop(); |
shobonwarrior | 1:8658787f9ec5 | 96 | |
shobonwarrior | 1:8658787f9ec5 | 97 | RPS = (sumangle - prev_angle) / Rper.read() / 360; |
shobonwarrior | 1:8658787f9ec5 | 98 | Rper.reset(); |
shobonwarrior | 1:8658787f9ec5 | 99 | Rper.start(); |
shobonwarrior | 1:8658787f9ec5 | 100 | prev_angle = sumangle; |
shobonwarrior | 1:8658787f9ec5 | 101 | return RPS; |
shobonwarrior | 1:8658787f9ec5 | 102 | } |
shobonwarrior | 1:8658787f9ec5 | 103 | double QEI::getRPMS() |
shobonwarrior | 1:8658787f9ec5 | 104 | { static double prev_angle; |
shobonwarrior | 1:8658787f9ec5 | 105 | MSper.stop(); |
shobonwarrior | 1:8658787f9ec5 | 106 | |
shobonwarrior | 1:8658787f9ec5 | 107 | RPMS = (sumangle - prev_angle) / (double)MSper.read_ms() / 360; |
shobonwarrior | 1:8658787f9ec5 | 108 | MSper.reset(); |
shobonwarrior | 1:8658787f9ec5 | 109 | MSper.start(); |
shobonwarrior | 1:8658787f9ec5 | 110 | prev_angle = sumangle; |
shobonwarrior | 1:8658787f9ec5 | 111 | return RPMS; |
shobonwarrior | 1:8658787f9ec5 | 112 | } |
shobonwarrior | 1:8658787f9ec5 | 113 | double QEI::getRPUS() |
shobonwarrior | 1:8658787f9ec5 | 114 | { static double prev_angle; |
shobonwarrior | 1:8658787f9ec5 | 115 | USper.stop(); |
shobonwarrior | 1:8658787f9ec5 | 116 | |
shobonwarrior | 1:8658787f9ec5 | 117 | RPUS = (sumangle - prev_angle) / (double)USper.read_us() / 360; |
shobonwarrior | 1:8658787f9ec5 | 118 | USper.reset(); |
shobonwarrior | 1:8658787f9ec5 | 119 | USper.start(); |
shobonwarrior | 1:8658787f9ec5 | 120 | prev_angle = sumangle; |
shobonwarrior | 1:8658787f9ec5 | 121 | return RPUS; |
shobonwarrior | 1:8658787f9ec5 | 122 | } |
aberk | 0:5c2ad81551aa | 123 | void QEI::encode(void) { |
shobonwarrior | 1:8658787f9ec5 | 124 | |
aberk | 0:5c2ad81551aa | 125 | int change = 0; |
aberk | 0:5c2ad81551aa | 126 | int chanA = channelA_.read(); |
aberk | 0:5c2ad81551aa | 127 | int chanB = channelB_.read(); |
shobonwarrior | 1:8658787f9ec5 | 128 | |
aberk | 0:5c2ad81551aa | 129 | currState_ = (chanA << 1) | (chanB); |
shobonwarrior | 1:8658787f9ec5 | 130 | |
aberk | 0:5c2ad81551aa | 131 | if (encoding_ == X2_ENCODING) { |
shobonwarrior | 1:8658787f9ec5 | 132 | |
aberk | 0:5c2ad81551aa | 133 | if ((prevState_ == 0x3 && currState_ == 0x0) || |
aberk | 0:5c2ad81551aa | 134 | (prevState_ == 0x0 && currState_ == 0x3)) { |
shobonwarrior | 1:8658787f9ec5 | 135 | |
aberk | 0:5c2ad81551aa | 136 | pulses_++; |
shobonwarrior | 1:8658787f9ec5 | 137 | angle_pulses++; |
shobonwarrior | 1:8658787f9ec5 | 138 | |
aberk | 0:5c2ad81551aa | 139 | } |
aberk | 0:5c2ad81551aa | 140 | else if ((prevState_ == 0x2 && currState_ == 0x1) || |
aberk | 0:5c2ad81551aa | 141 | (prevState_ == 0x1 && currState_ == 0x2)) { |
shobonwarrior | 1:8658787f9ec5 | 142 | |
aberk | 0:5c2ad81551aa | 143 | pulses_--; |
shobonwarrior | 1:8658787f9ec5 | 144 | angle_pulses--; |
shobonwarrior | 1:8658787f9ec5 | 145 | |
aberk | 0:5c2ad81551aa | 146 | } |
shobonwarrior | 1:8658787f9ec5 | 147 | |
aberk | 0:5c2ad81551aa | 148 | } else if (encoding_ == X4_ENCODING) { |
shobonwarrior | 1:8658787f9ec5 | 149 | |
aberk | 0:5c2ad81551aa | 150 | if (((currState_ ^ prevState_) != INVALID) && (currState_ != prevState_)) { |
aberk | 0:5c2ad81551aa | 151 | change = (prevState_ & PREV_MASK) ^ ((currState_ & CURR_MASK) >> 1); |
shobonwarrior | 1:8658787f9ec5 | 152 | |
aberk | 0:5c2ad81551aa | 153 | if (change == 0) { |
aberk | 0:5c2ad81551aa | 154 | change = -1; |
aberk | 0:5c2ad81551aa | 155 | } |
shobonwarrior | 1:8658787f9ec5 | 156 | |
aberk | 0:5c2ad81551aa | 157 | pulses_ -= change; |
shobonwarrior | 1:8658787f9ec5 | 158 | angle_pulses -= change; |
aberk | 0:5c2ad81551aa | 159 | } |
shobonwarrior | 1:8658787f9ec5 | 160 | |
aberk | 0:5c2ad81551aa | 161 | } |
shobonwarrior | 1:8658787f9ec5 | 162 | angle_ = angle_pulses*360/((double)pulsesPerRev_*4); |
shobonwarrior | 1:8658787f9ec5 | 163 | sumangle = pulses_*360/((double)pulsesPerRev_*4); |
shobonwarrior | 1:8658787f9ec5 | 164 | if(angle_>=360) |
shobonwarrior | 1:8658787f9ec5 | 165 | { |
shobonwarrior | 1:8658787f9ec5 | 166 | angle_pulses = angle_ = 0; |
shobonwarrior | 1:8658787f9ec5 | 167 | round_rev++; |
shobonwarrior | 1:8658787f9ec5 | 168 | } |
shobonwarrior | 1:8658787f9ec5 | 169 | else if(angle_<=-360) |
shobonwarrior | 1:8658787f9ec5 | 170 | { |
shobonwarrior | 1:8658787f9ec5 | 171 | angle_pulses = angle_ = 0; |
shobonwarrior | 1:8658787f9ec5 | 172 | round_rev--; |
shobonwarrior | 1:8658787f9ec5 | 173 | } |
aberk | 0:5c2ad81551aa | 174 | prevState_ = currState_; |
aberk | 0:5c2ad81551aa | 175 | } |
shobonwarrior | 1:8658787f9ec5 | 176 | |
aberk | 0:5c2ad81551aa | 177 | void QEI::index(void) { |
shobonwarrior | 1:8658787f9ec5 | 178 | |
aberk | 0:5c2ad81551aa | 179 | revolutions_++; |
shobonwarrior | 1:8658787f9ec5 | 180 | |
aberk | 0:5c2ad81551aa | 181 | } |
shobonwarrior | 1:8658787f9ec5 | 182 | |
shobonwarrior | 1:8658787f9ec5 | 183 | |
shobonwarrior | 1:8658787f9ec5 | 184 |