Revision 1:72e6e124a7e6, committed 2011-08-30

Comitter:

jgnoss

Date:

Tue Aug 30 20:03:36 2011 +0000

Parent:

0:7c16b1d2f01e

Commit message:

Added Phase Z and Rev Counter

Changed in this revision

--- a/PolledQEI.cpp	Tue Aug 30 19:52:34 2011 +0000
+++ b/PolledQEI.cpp	Tue Aug 30 20:03:36 2011 +0000
@@ -1,73 +1,73 @@
-#include "mbed.h"
-#include "PolledQEI.h"
-
-
-
-
-void PolledQEI::setSampleFrequency(int i = 10000) {
-    _sample_uSec = i;
-    _actEncPos = 0;
-    _ticker->attach_us( this, &PolledQEI::check, _sample_uSec );
-}
-
-int PolledQEI::pos(void) {
-    return _actEncPos;
-}
-
-int PolledQEI::dir(void) {
-    return _dir;
-}
-
-int PolledQEI::rev(void) {
-    return _actEncRev;
-}
-
-void PolledQEI::countRev(void) {
-    if (_dir) {
-        _actEncRev++;
-    } else {
-        _actEncRev--;
-    }
-}
-
-void PolledQEI::init(PinName a, PinName b, PinName z = NC) {
-
-    _phaseA = new DigitalIn( a );
-    _phaseA->mode( PullUp );
-    _phaseB = new DigitalIn( b );
-    _phaseB->mode( PullUp );
-    if (z != NC) {
-        _phaseZ = new InterruptIn( z );
-        _phaseZ->mode( PullUp );
-        _phaseZ->fall(this, &PolledQEI::countRev);
-    }
-    _actEncRev = 0;
-    _actEncPos = 0;
-    _dir = 0;
-
-    _ticker = new Ticker;
-}
-
-void PolledQEI::check (void) {
-    unsigned int pA = _phaseA->read();
-    unsigned int pB = _phaseB->read();
-    unsigned int newV = 0, diffV = 0;
-
-
-    // convert gray to binary
-    if ( pA ) {
-        newV = 3;
-    }
-    if ( pB ) {
-        newV ^= 1;
-    }
-
-    diffV = last - newV;			    // difference last - new
-    if ( diffV & 1 ) {				    // bit 0 = value (1)
-        last = newV;				    // store new as next last
-        _actEncPos -= (diffV & 2) - 1;  // bit 1 = direction (+/-)
-        _dir = (diffV & 2)?CW:CCW;
-    }
-}
-
-
+#include "mbed.h"
+#include "PolledQEI.h"
+
+
+
+
+void PolledQEI::setSampleFrequency(int i = 10000) {
+    _sample_uSec = i;
+    _actEncPos = 0;
+    _ticker->attach_us( this, &PolledQEI::check, _sample_uSec );
+}
+
+int PolledQEI::pos(void) {
+    return _actEncPos;
+}
+
+int PolledQEI::dir(void) {
+    return _dir;
+}
+
+int PolledQEI::rev(void) {
+    return _actEncRev;
+}
+
+void PolledQEI::countRev(void) {
+    if (_dir) {
+        _actEncRev++;
+    } else {
+        _actEncRev--;
+    }
+}
+
+void PolledQEI::init(PinName a, PinName b, PinName z = NC) {
+
+    _phaseA = new DigitalIn( a );
+    _phaseA->mode( PullUp );
+    _phaseB = new DigitalIn( b );
+    _phaseB->mode( PullUp );
+    if (z != NC) {
+        _phaseZ = new InterruptIn( z );
+        _phaseZ->mode( PullUp );
+        _phaseZ->fall(this, &PolledQEI::countRev);
+    }
+    _actEncRev = 0;
+    _actEncPos = 0;
+    _dir = 0;
+
+    _ticker = new Ticker;
+}
+
+void PolledQEI::check (void) {
+    unsigned int pA = _phaseA->read();
+    unsigned int pB = _phaseB->read();
+    unsigned int newV = 0, diffV = 0;
+
+
+    // convert gray to binary
+    if ( pA ) {
+        newV = 3;
+    }
+    if ( pB ) {
+        newV ^= 1;
+    }
+
+    diffV = last - newV;			    // difference last - new
+    if ( diffV & 1 ) {				    // bit 0 = value (1)
+        last = newV;				    // store new as next last
+        _actEncPos -= (diffV & 2) - 1;  // bit 1 = direction (+/-)
+        _dir = (diffV & 2)?CW:CCW;
+    }
+}
+
+

--- a/PolledQEI.h	Tue Aug 30 19:52:34 2011 +0000
+++ b/PolledQEI.h	Tue Aug 30 20:03:36 2011 +0000
@@ -1,74 +1,74 @@
-#ifndef _POLLED_QEI_H
-#define _POLLED_QEI_H
-
-#define CW   0
-#define CCW  1
-
-
-class PolledQEI  {
-public:
-
-
-
-    PolledQEI() {
-        error("Constructor need 2 parameters");
-    };
-
-    /** PolledQEI constructor
-     *
-     * @param PinName PhaseA and  PinName PhaseB
-     * are a valid pin that supports DigitalIn
-     */
-    PolledQEI(PinName a, PinName b) {
-        init( a, b, NC );
-    }
-
-    /** PolledQEI constructor
-     *
-     * @param PinName PhaseA and  PinName PhaseB and  PinName PhaseZ
-     * are a valid pin that supports DigitalIn
-     */
-    PolledQEI(PinName a, PinName b, PinName z) {
-        init( a, b, z );
-    }
-
-    /** PolledQEI destructor
-     */
-    ~PolledQEI() {
-        if ( _ticker )  delete( _ticker );
-        if ( _phaseA )  delete( _phaseA );
-        if ( _phaseB )  delete( _phaseB );
-        if ( _phaseZ )  delete( _phaseZ );
-    }
-
-    /** Set the sampling time in microseconds.
-     *
-     * @param int The time between pin samples in microseconds.
-     */
-    void setSampleFrequency(int i);
-    int pos(void);
-    int dir(void);
-    int rev(void);
-    
-    
-private:
-
-
-protected:
-    DigitalIn       *_phaseA;
-    DigitalIn       *_phaseB;
-    InterruptIn     *_phaseZ;
-    Ticker          *_ticker;
-    int             _sample_uSec;
-    unsigned int    _actEncPos;
-    unsigned int    _actEncRev;
-    int             _dir;
-    unsigned int    last;
-
-    void init(PinName a, PinName b, PinName z);
-    void check (void);
-    void countRev(void);
-
-};
-
+#ifndef _POLLED_QEI_H
+#define _POLLED_QEI_H
+
+#define CW   0
+#define CCW  1
+
+
+class PolledQEI  {
+public:
+
+
+
+    PolledQEI() {
+        error("Constructor needs 2(3) Pin as parameters");
+    };
+
+    /** PolledQEI constructor
+     *
+     * @param PinName PhaseA and  PinName PhaseB
+     * are a valid pin that supports DigitalIn
+     */
+    PolledQEI(PinName a, PinName b) {
+        init( a, b, NC );
+    }
+
+    /** PolledQEI constructor
+     *
+     * @param PinName PhaseA and  PinName PhaseB and  PinName PhaseZ
+     * are a valid pin that supports DigitalIn
+     */
+    PolledQEI(PinName a, PinName b, PinName z) {
+        init( a, b, z );
+    }
+
+    /** PolledQEI destructor
+     */
+    ~PolledQEI() {
+        if ( _ticker )  delete( _ticker );
+        if ( _phaseA )  delete( _phaseA );
+        if ( _phaseB )  delete( _phaseB );
+        if ( _phaseZ )  delete( _phaseZ );
+    }
+
+    /** Set the sampling time in microseconds.
+     *
+     * @param int The time between pin samples in microseconds.
+     */
+    void setSampleFrequency(int i);
+    int pos(void);
+    int dir(void);
+    int rev(void);
+    
+    
+private:
+
+
+protected:
+    DigitalIn       *_phaseA;
+    DigitalIn       *_phaseB;
+    InterruptIn     *_phaseZ;
+    Ticker          *_ticker;
+    int             _sample_uSec;
+    unsigned int    _actEncPos;
+    unsigned int    _actEncRev;
+    int             _dir;
+    unsigned int    last;
+
+    void init(PinName a, PinName b, PinName z);
+    void check (void);
+    void countRev(void);
+
+};
+
 #endif
\ No newline at end of file

--- a/main.cpp	Tue Aug 30 19:52:34 2011 +0000
+++ b/main.cpp	Tue Aug 30 20:03:36 2011 +0000
@@ -7,10 +7,13 @@
 int main() {
     int oldEncPos = 0;
     int newEncPos = 0;
+    int oldEncRev = 0;
+    int newEncRev = 0;
    
     DigitalOut led1( LED1 );
+    DigitalOut led2( LED2 );
     
-    PolledQEI enc(p5, p6);
+    PolledQEI enc(p5, p6, p7);
     enc.setSampleFrequency(10000);
     
     led1 = 1;
@@ -23,6 +26,11 @@
             led1 = !led1;
         }
 
+        newEncRev = enc.rev();
+        if (oldEncRev != newEncRev ) {
+            oldEncRev = newEncRev;
+            led2 = !led2;
+        }
         wait(0.01);
     }
 }