66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
/*
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* EncoderQuadratureCounter.h
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*
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* Created on: 22 ÿíâ. 2020 ã.
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* Author: user
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*/
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#ifndef UMLIBRARY_DRIVER_ENCODERQUADRATURECOUNTER_HH_
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#define UMLIBRARY_DRIVER_ENCODERQUADRATURECOUNTER_HH_
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#include "IEncoder.hh"
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#include "../math/math_inc.hh"
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#include "../common/DoubleBuffer.hpp"
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#include "../peripheral/ICounter.hh"
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namespace driver { namespace derail {
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class EncoderQuadratureCounter: public IEncoder {
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public:
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//!Îïèñàíèå íàñòðîåê äðàéâåðà ñ÷åò÷èêà êâàäðàòóðíîãî ýíêîäåðà.
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struct Setting {
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unsigned long max_turn_value; //!<Ìàêñèìàëüíîå çíà÷åíèå ñ÷åò÷èêîâ îáîðîòîâ.
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unsigned long line_in_turn; //!<Êîëè÷åñòâî øòðèõîâ äèñêà ýíêîäåðà íà îáîðîò.
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};
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virtual float getAngle() const override;
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virtual float getTurn() const override;
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virtual std::pair<float, float> getPosition() const override;
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bool configure( Setting & set );
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bool isFailure() const;
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void resetFailure();
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void process();
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void setAbsolurePosition( float angle, unsigned long turn );
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EncoderQuadratureCounter( peripheral::ICounter & counter );
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private:
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peripheral::ICounter & counter;
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unsigned long max_turn_value; //!<Ìàêñèìàëüíîå çíà÷åíèå ñ÷åò÷èêîâ îáîðîòîâ èç íàñòðîåê.
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unsigned long line_in_turn; //!<Êîëè÷åñòâî øòðèõîâ äèñêà ýíêîäåðà íà îáîðîò èç íàñòðîåê.
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bool failure = false;
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long angle_position = 0; //!<Óãëîâîå ïîëîæåíèå â îòñ÷åòàõ ýíêîäåðà.
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unsigned long turn_counter = 0; //!<Ñ÷åò÷èê îáîðîòîâ. Èçìåíÿåòñÿ îò 0 äî max_turn_value-1.
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float _1_line_to_rad = NAN;
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float angle = NAN; //!Óãîë âíóòðè îáîðîòà [0..2pi).
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DoubleBuffer< std::pair<float, float> > data;
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};
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} /* namespace derail */
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} /* namespace driver */
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#endif /* UMLIBRARY_DRIVER_ENCODERQUADRATURECOUNTER_HH_ */
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