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.h@3:dcb7bdc73882, 2014-09-29 (annotated)
- Committer:
- vsluiter
- Date:
- Mon Sep 29 15:45:09 2014 +0000
- Revision:
- 3:dcb7bdc73882
- Parent:
- 1:2dd7853c911a
- Child:
- 4:69be34f39c9f
Changed to make speed readout optional
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:c90b36abcbf8 | 1 | #ifndef _ENCODER_H_ |
vsluiter | 0:c90b36abcbf8 | 2 | #define _ENCODER_H_ |
vsluiter | 0:c90b36abcbf8 | 3 | |
vsluiter | 0:c90b36abcbf8 | 4 | #include "mbed.h" |
vsluiter | 1:2dd7853c911a | 5 | /** Encoder class. |
vsluiter | 1:2dd7853c911a | 6 | * Used to read out incremental position encoder. Decodes position in X2 configuration. |
vsluiter | 1:2dd7853c911a | 7 | * |
vsluiter | 3:dcb7bdc73882 | 8 | * Speed estimation is very crude and computationally intensive. Turned off by default |
vsluiter | 3:dcb7bdc73882 | 9 | * |
vsluiter | 1:2dd7853c911a | 10 | * Example: |
vsluiter | 1:2dd7853c911a | 11 | * @code |
vsluiter | 1:2dd7853c911a | 12 | * #include "mbed.h" |
vsluiter | 1:2dd7853c911a | 13 | * #include "Encoder.h" |
vsluiter | 1:2dd7853c911a | 14 | * |
vsluiter | 3:dcb7bdc73882 | 15 | * Encoder motor1(PTD0,PTC9,true); |
vsluiter | 1:2dd7853c911a | 16 | * Serial pc(USBTX,USBRX); |
vsluiter | 1:2dd7853c911a | 17 | * pc.baud(115200); |
vsluiter | 1:2dd7853c911a | 18 | * while(1) { |
vsluiter | 1:2dd7853c911a | 19 | * wait(0.2); |
vsluiter | 1:2dd7853c911a | 20 | * pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed()); |
vsluiter | 1:2dd7853c911a | 21 | * } |
vsluiter | 1:2dd7853c911a | 22 | * @endcode |
vsluiter | 1:2dd7853c911a | 23 | */ |
vsluiter | 0:c90b36abcbf8 | 24 | class Encoder |
vsluiter | 0:c90b36abcbf8 | 25 | { |
vsluiter | 0:c90b36abcbf8 | 26 | public: |
vsluiter | 1:2dd7853c911a | 27 | /** Create Encoder instance |
vsluiter | 1:2dd7853c911a | 28 | @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn. |
vsluiter | 1:2dd7853c911a | 29 | @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location |
vsluiter | 1:2dd7853c911a | 30 | */ |
vsluiter | 3:dcb7bdc73882 | 31 | Encoder(PinName int_a, PinName int_b, bool speed=false); |
vsluiter | 1:2dd7853c911a | 32 | /** Request position |
vsluiter | 1:2dd7853c911a | 33 | @returns current position in encoder counts |
vsluiter | 1:2dd7853c911a | 34 | */ |
vsluiter | 0:c90b36abcbf8 | 35 | int32_t getPosition(){return m_position;} |
vsluiter | 1:2dd7853c911a | 36 | /** Overwrite position |
vsluiter | 1:2dd7853c911a | 37 | @param pos position to be written |
vsluiter | 1:2dd7853c911a | 38 | */ |
vsluiter | 0:c90b36abcbf8 | 39 | void setPosition(int32_t pos){m_position = pos;} |
vsluiter | 1:2dd7853c911a | 40 | /** Request speed |
vsluiter | 1:2dd7853c911a | 41 | @returns current speed |
vsluiter | 1:2dd7853c911a | 42 | */ |
vsluiter | 0:c90b36abcbf8 | 43 | float getSpeed(){return m_speed;} |
vsluiter | 0:c90b36abcbf8 | 44 | private: |
vsluiter | 0:c90b36abcbf8 | 45 | void encoderFalling(void); |
vsluiter | 0:c90b36abcbf8 | 46 | void encoderRising(void); |
vsluiter | 3:dcb7bdc73882 | 47 | bool m_speed_enabled; |
vsluiter | 0:c90b36abcbf8 | 48 | Timer EncoderTimer; |
vsluiter | 0:c90b36abcbf8 | 49 | Timeout EncoderTimeout; |
vsluiter | 0:c90b36abcbf8 | 50 | InterruptIn pin_a; |
vsluiter | 0:c90b36abcbf8 | 51 | DigitalIn pin_b; |
vsluiter | 0:c90b36abcbf8 | 52 | int32_t m_position; |
vsluiter | 0:c90b36abcbf8 | 53 | float m_speed; |
vsluiter | 0:c90b36abcbf8 | 54 | void timeouthandler(void); |
vsluiter | 0:c90b36abcbf8 | 55 | bool zero_speed; |
vsluiter | 0:c90b36abcbf8 | 56 | }; |
vsluiter | 0:c90b36abcbf8 | 57 | |
vsluiter | 0:c90b36abcbf8 | 58 | |
vsluiter | 0:c90b36abcbf8 | 59 | #endif //_ENCODER_H_ |