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.h@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 | * 2 Phase-differnt signals (Signal A,B) |
suupen | 1:57c43aac7007 | 5 | * |
suupen | 1:57c43aac7007 | 6 | * <example part> |
suupen | 1:57c43aac7007 | 7 | * parts no : EC12PLGRBSDVBF |
suupen | 1:57c43aac7007 | 8 | * ec site : http://akizukidenshi.com/catalog/g/gP-05773/ |
suupen | 1:57c43aac7007 | 9 | * data sheet : http://akizukidenshi.com/download/ds/topup/EC12PLRGBSDVBF-D-25K-24-24C-61%EF%BC%8F08-6H(SPEC).pdf |
suupen | 1:57c43aac7007 | 10 | * |
suupen | 1:57c43aac7007 | 11 | * <scematic> |
suupen | 1:57c43aac7007 | 12 | * |
suupen | 1:57c43aac7007 | 13 | * rotational +Vcc +Vcc |
suupen | 1:57c43aac7007 | 14 | * encoder | | |
suupen | 1:57c43aac7007 | 15 | * +--------+ R(*1) R(*1) |
suupen | 1:57c43aac7007 | 16 | * | | | | |
suupen | 1:57c43aac7007 | 17 | * | A +---+-----+----- mbed (pXX) |
suupen | 1:57c43aac7007 | 18 | * | | | |
suupen | 1:57c43aac7007 | 19 | * | B +---------+----- mbed (pXX) |
suupen | 1:57c43aac7007 | 20 | * | C | |
suupen | 1:57c43aac7007 | 21 | * +---+----+ *1: mbed inernal pullup (The outside resistance is unnecessary) |
suupen | 1:57c43aac7007 | 22 | * | |
suupen | 1:57c43aac7007 | 23 | * - GND |
suupen | 1:57c43aac7007 | 24 | * |
suupen | 1:57c43aac7007 | 25 | * <timing chart> |
suupen | 1:57c43aac7007 | 26 | * |
suupen | 1:57c43aac7007 | 27 | * interrupt down(*1) up(*2) down |
suupen | 1:57c43aac7007 | 28 | * ! ! ! |
suupen | 1:57c43aac7007 | 29 | * stop point stop ! ! stop ! |
suupen | 1:57c43aac7007 | 30 | * ! ! ! ! ! |
suupen | 1:57c43aac7007 | 31 | * ----------+ +----------+ |
suupen | 1:57c43aac7007 | 32 | * ! | | ! | |
suupen | 1:57c43aac7007 | 33 | * Signal A ! +----------+ ! +----------+ |
suupen | 1:57c43aac7007 | 34 | * ! ! ! ! ! |
suupen | 1:57c43aac7007 | 35 | * +----------+ ! +----------+ |
suupen | 1:57c43aac7007 | 36 | * | ! | ! | ! | |
suupen | 1:57c43aac7007 | 37 | * Signal B -------+ ! +----------+ ! +--------- |
suupen | 1:57c43aac7007 | 38 | * ! ! ! |
suupen | 1:57c43aac7007 | 39 | * detect ! ! ! |
suupen | 1:57c43aac7007 | 40 | * cw → 01 → 10 → 01 |
suupen | 1:57c43aac7007 | 41 | * |
suupen | 1:57c43aac7007 | 42 | * ccw ← 11 ← 00 ← 11 |
suupen | 1:57c43aac7007 | 43 | * |
suupen | 1:57c43aac7007 | 44 | * *1:interuupt down side is Provisionally process |
suupen | 1:57c43aac7007 | 45 | * *2:interrupt up side is dicition process |
suupen | 1:57c43aac7007 | 46 | * |
suupen | 1:57c43aac7007 | 47 | * <example program> |
suupen | 2:0102de0ec7a7 | 48 | * @code |
suupen | 2:0102de0ec7a7 | 49 | * #include "mbed.h" |
suupen | 2:0102de0ec7a7 | 50 | * #include "RotationalEncoder.h" |
suupen | 1:57c43aac7007 | 51 | * |
suupen | 2:0102de0ec7a7 | 52 | * RotationalEncoder encoder(p21, p23); |
suupen | 2:0102de0ec7a7 | 53 | * |
suupen | 2:0102de0ec7a7 | 54 | * BusOut led(LED1, LED2, LED3, LED4); |
suupen | 2:0102de0ec7a7 | 55 | * |
suupen | 2:0102de0ec7a7 | 56 | * int main() { |
suupen | 2:0102de0ec7a7 | 57 | * while(1) { |
suupen | 2:0102de0ec7a7 | 58 | * |
suupen | 2:0102de0ec7a7 | 59 | * led = encoder.getAbsolutePulses(); |
suupen | 2:0102de0ec7a7 | 60 | * printf("abs = %4i rel = %4i\r\n",encoder.getAbsolutePulses(), encoder.getRelativePulses()); |
suupen | 2:0102de0ec7a7 | 61 | * |
suupen | 2:0102de0ec7a7 | 62 | * } |
suupen | 2:0102de0ec7a7 | 63 | * } |
suupen | 2:0102de0ec7a7 | 64 | * @endcode |
suupen | 1:57c43aac7007 | 65 | */ |
suupen | 1:57c43aac7007 | 66 | |
suupen | 1:57c43aac7007 | 67 | |
suupen | 1:57c43aac7007 | 68 | #ifndef ROTATIONALENCODER_H |
suupen | 1:57c43aac7007 | 69 | #define ROTATIONALENCODER_H |
suupen | 1:57c43aac7007 | 70 | |
suupen | 1:57c43aac7007 | 71 | #include "mbed.h" |
suupen | 1:57c43aac7007 | 72 | |
suupen | 1:57c43aac7007 | 73 | /** |
suupen | 1:57c43aac7007 | 74 | * rotational encoder interface. |
suupen | 1:57c43aac7007 | 75 | */ |
suupen | 1:57c43aac7007 | 76 | |
suupen | 1:57c43aac7007 | 77 | |
suupen | 1:57c43aac7007 | 78 | /** |
suupen | 1:57c43aac7007 | 79 | * @class RotationalEncoder |
suupen | 1:57c43aac7007 | 80 | * @brief nothine |
suupen | 1:57c43aac7007 | 81 | */ |
suupen | 1:57c43aac7007 | 82 | class RotationalEncoder |
suupen | 1:57c43aac7007 | 83 | { |
suupen | 1:57c43aac7007 | 84 | |
suupen | 1:57c43aac7007 | 85 | public: |
suupen | 1:57c43aac7007 | 86 | |
suupen | 1:57c43aac7007 | 87 | /** Create a RotationalEncoder port, connected to the specified A and B pins |
suupen | 1:57c43aac7007 | 88 | * @param channelA encoder A pin |
suupen | 1:57c43aac7007 | 89 | * @param channelB encoder B pin |
suupen | 1:57c43aac7007 | 90 | * @note nothing |
suupen | 1:57c43aac7007 | 91 | */ |
suupen | 1:57c43aac7007 | 92 | RotationalEncoder(PinName channelA, PinName channelB); |
suupen | 1:57c43aac7007 | 93 | |
suupen | 1:57c43aac7007 | 94 | /** |
suupen | 1:57c43aac7007 | 95 | * Reset the number for absolute and relative. |
suupen | 1:57c43aac7007 | 96 | */ |
suupen | 1:57c43aac7007 | 97 | void reset(void); |
suupen | 1:57c43aac7007 | 98 | |
suupen | 1:57c43aac7007 | 99 | /** |
suupen | 1:57c43aac7007 | 100 | * Get the number of absolute pulses recorded by the encoder. |
suupen | 1:57c43aac7007 | 101 | * |
suupen | 1:57c43aac7007 | 102 | * @return Number of absolute pulses. |
suupen | 1:57c43aac7007 | 103 | */ |
suupen | 1:57c43aac7007 | 104 | int16_t getAbsolutePulses(void); |
suupen | 1:57c43aac7007 | 105 | |
suupen | 1:57c43aac7007 | 106 | /** |
suupen | 1:57c43aac7007 | 107 | * Get the number of relative pulses recorded by the encoder. |
suupen | 1:57c43aac7007 | 108 | * |
suupen | 1:57c43aac7007 | 109 | * @return Number of relative pulses. |
suupen | 1:57c43aac7007 | 110 | */ |
suupen | 1:57c43aac7007 | 111 | int16_t getRelativePulses(void); |
suupen | 1:57c43aac7007 | 112 | |
suupen | 1:57c43aac7007 | 113 | |
suupen | 1:57c43aac7007 | 114 | private: |
suupen | 1:57c43aac7007 | 115 | |
suupen | 1:57c43aac7007 | 116 | void encoderAUp(void); |
suupen | 1:57c43aac7007 | 117 | void encoderADwon(void); |
suupen | 1:57c43aac7007 | 118 | |
suupen | 1:57c43aac7007 | 119 | InterruptIn _channelA; |
suupen | 1:57c43aac7007 | 120 | InterruptIn _channelB; |
suupen | 1:57c43aac7007 | 121 | |
suupen | 1:57c43aac7007 | 122 | int16_t _channelBLevelOfchannelALow; |
suupen | 1:57c43aac7007 | 123 | #define INITAL 0xff |
suupen | 1:57c43aac7007 | 124 | |
suupen | 1:57c43aac7007 | 125 | volatile int16_t _absolutePulse; |
suupen | 1:57c43aac7007 | 126 | volatile int16_t _relativePulse; |
suupen | 1:57c43aac7007 | 127 | }; |
suupen | 1:57c43aac7007 | 128 | |
suupen | 1:57c43aac7007 | 129 | #endif /* ROTATIONALENCODER_H */ |