2 Phase different signals rotational encoder library 2相位相差型ロータリーエンコーダ用ライブラリ。 絶対値パルス関数。相対値(前回読み出しからの差)パルス出力関数。秋月電子のEC12PLRGBSDVBF-D-25K-24-24C-61で動作確認した。http://akizukidenshi.com/catalog/g/gP-05773/
Dependents: RotationalEncoder_Hello
example program
Import programRotationalEncoder_Hello
RotationalEncoder library's example program
RotationalEncoder.cpp@2:0102de0ec7a7, 2016-10-23 (annotated)
- Committer:
- suupen
- Date:
- Sun Oct 23 03:44:28 2016 +0000
- Revision:
- 2:0102de0ec7a7
- Parent:
- 1:57c43aac7007
include comment to example program code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
suupen | 1:57c43aac7007 | 1 | /** |
suupen | 1:57c43aac7007 | 2 | * rotational encoder Library |
suupen | 1:57c43aac7007 | 3 | */ |
suupen | 1:57c43aac7007 | 4 | |
suupen | 1:57c43aac7007 | 5 | #include "RotationalEncoder.h" |
suupen | 1:57c43aac7007 | 6 | |
suupen | 1:57c43aac7007 | 7 | /** |
suupen | 1:57c43aac7007 | 8 | * |
suupen | 1:57c43aac7007 | 9 | */ |
suupen | 1:57c43aac7007 | 10 | RotationalEncoder::RotationalEncoder(PinName channelA, |
suupen | 1:57c43aac7007 | 11 | PinName channelB |
suupen | 1:57c43aac7007 | 12 | ) : _channelA(channelA), _channelB(channelB) |
suupen | 1:57c43aac7007 | 13 | { |
suupen | 1:57c43aac7007 | 14 | |
suupen | 1:57c43aac7007 | 15 | _absolutePulse = 0; |
suupen | 1:57c43aac7007 | 16 | _relativePulse = 0; |
suupen | 1:57c43aac7007 | 17 | |
suupen | 1:57c43aac7007 | 18 | _channelA.mode(PullUp); |
suupen | 1:57c43aac7007 | 19 | _channelB.mode(PullUp); |
suupen | 1:57c43aac7007 | 20 | |
suupen | 1:57c43aac7007 | 21 | _channelBLevelOfchannelALow = INITAL; |
suupen | 1:57c43aac7007 | 22 | |
suupen | 1:57c43aac7007 | 23 | _channelA.rise(this, &RotationalEncoder::encoderAUp); |
suupen | 1:57c43aac7007 | 24 | _channelA.fall(this, &RotationalEncoder::encoderADwon); |
suupen | 1:57c43aac7007 | 25 | |
suupen | 1:57c43aac7007 | 26 | |
suupen | 1:57c43aac7007 | 27 | } |
suupen | 1:57c43aac7007 | 28 | |
suupen | 1:57c43aac7007 | 29 | void RotationalEncoder::reset(void) |
suupen | 1:57c43aac7007 | 30 | { |
suupen | 1:57c43aac7007 | 31 | _absolutePulse = 0; |
suupen | 1:57c43aac7007 | 32 | _relativePulse = 0; |
suupen | 1:57c43aac7007 | 33 | getRelativePulses(); |
suupen | 1:57c43aac7007 | 34 | } |
suupen | 1:57c43aac7007 | 35 | |
suupen | 1:57c43aac7007 | 36 | |
suupen | 1:57c43aac7007 | 37 | int16_t RotationalEncoder::getAbsolutePulses(void) |
suupen | 1:57c43aac7007 | 38 | { |
suupen | 1:57c43aac7007 | 39 | |
suupen | 1:57c43aac7007 | 40 | return _absolutePulse; |
suupen | 1:57c43aac7007 | 41 | |
suupen | 1:57c43aac7007 | 42 | } |
suupen | 1:57c43aac7007 | 43 | |
suupen | 1:57c43aac7007 | 44 | int16_t RotationalEncoder::getRelativePulses(void) |
suupen | 1:57c43aac7007 | 45 | { |
suupen | 1:57c43aac7007 | 46 | static int16_t beforeAbsolutePulse = 0; |
suupen | 1:57c43aac7007 | 47 | int16_t temp = _absolutePulse; |
suupen | 1:57c43aac7007 | 48 | |
suupen | 1:57c43aac7007 | 49 | _relativePulse = temp - beforeAbsolutePulse; |
suupen | 1:57c43aac7007 | 50 | beforeAbsolutePulse = temp; |
suupen | 1:57c43aac7007 | 51 | |
suupen | 1:57c43aac7007 | 52 | return _relativePulse; |
suupen | 1:57c43aac7007 | 53 | |
suupen | 1:57c43aac7007 | 54 | } |
suupen | 1:57c43aac7007 | 55 | |
suupen | 1:57c43aac7007 | 56 | |
suupen | 1:57c43aac7007 | 57 | void RotationalEncoder::encoderAUp(void) |
suupen | 1:57c43aac7007 | 58 | { |
suupen | 1:57c43aac7007 | 59 | if((_channelBLevelOfchannelALow == INITAL) || |
suupen | 1:57c43aac7007 | 60 | (_channelBLevelOfchannelALow == _channelB.read()) |
suupen | 1:57c43aac7007 | 61 | ) { |
suupen | 1:57c43aac7007 | 62 | return; |
suupen | 1:57c43aac7007 | 63 | } |
suupen | 1:57c43aac7007 | 64 | |
suupen | 1:57c43aac7007 | 65 | if(_channelB.read() == 0) { |
suupen | 1:57c43aac7007 | 66 | _absolutePulse++; |
suupen | 1:57c43aac7007 | 67 | |
suupen | 1:57c43aac7007 | 68 | } else { |
suupen | 1:57c43aac7007 | 69 | _absolutePulse--; |
suupen | 1:57c43aac7007 | 70 | |
suupen | 1:57c43aac7007 | 71 | } |
suupen | 1:57c43aac7007 | 72 | |
suupen | 1:57c43aac7007 | 73 | } |
suupen | 1:57c43aac7007 | 74 | |
suupen | 1:57c43aac7007 | 75 | void RotationalEncoder::encoderADwon(void) |
suupen | 1:57c43aac7007 | 76 | { |
suupen | 1:57c43aac7007 | 77 | _channelBLevelOfchannelALow = _channelB.read(); |
suupen | 1:57c43aac7007 | 78 | } |