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[driver] Driver for AB (incremental) encoder slave
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| Original file line number | Diff line number | Diff line change |
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| // coding: utf-8 | ||
| /* | ||
| * Copyright (c) 2019, Raphael Lehmann | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
| // ---------------------------------------------------------------------------- | ||
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| #ifndef MODM_ENCODER_SLAVE_HPP | ||
| #define MODM_ENCODER_SLAVE_HPP | ||
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| #include <modm/processing/timer/timeout.hpp> | ||
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| namespace modm | ||
| { | ||
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| /** | ||
| * @ingroup modm_driver_encoder_slave | ||
| * @author Raphael Lehmann | ||
| * | ||
| * @brief This driver generates a AB (incremental) encoder signal to | ||
| * emulate a hardware encoder with a microcontroller. | ||
| * | ||
| * @tparam PinA First modm::platform::Gpio pin to output the encoder signal. | ||
| * @tparam PinB Second modm::platform::Gpio pin to output the encoder signal. | ||
| * @tparam PositionType Data type (integer) of the position value, default `int32_t`. | ||
| * @tparam Timeout Defaults to `modm::ShortTimeout`, must be replaced for | ||
| * encoder frequencies above 1kHz by a class that offers | ||
| * time steps less than 1ms. | ||
| * @tparam period_ms Timebase for the output signal. This limits the maximal | ||
| * frequency of the encoder signal. Defaults to `1`. | ||
| */ | ||
| template < class PinA, class PinB, typename PositionType = int32_t, class Timeout = modm::ShortTimeout, uint32_t period_ms = 1 > | ||
| class EncoderSlave { | ||
| public: | ||
| /** | ||
| * @brief Initializes the Encoder. | ||
| * | ||
| * Sets pins (PinA and PinB) as output pins. | ||
| */ | ||
| EncoderSlave(); | ||
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| /** | ||
| * @brief Update method. Generates the encoder signal. | ||
| * | ||
| * Call this function in your main loop. | ||
| */ | ||
| void update(); | ||
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| /** | ||
| * @brief Set the position for the encoder. | ||
| * @param position The position setpoint for the encoder. | ||
| */ | ||
| void setPosition(PositionType position) { setpoint = position; }; | ||
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| private: | ||
| PositionType setpoint; | ||
| PositionType actualValue; | ||
| Timeout timeout; | ||
| enum class State : uint8_t { | ||
| State0, | ||
| State1, | ||
| State2, | ||
| State3, | ||
| }; | ||
| State state; | ||
| }; | ||
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| } | ||
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| #include "encoder_slave_impl.hpp" | ||
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| #endif |
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| #!/usr/bin/env python3 | ||
| # -*- coding: utf-8 -*- | ||
| # | ||
| # Copyright (c) 2019, Raphael Lehmann | ||
| # | ||
| # This file is part of the modm project. | ||
| # | ||
| # This Source Code Form is subject to the terms of the Mozilla Public | ||
| # License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| # file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| # ----------------------------------------------------------------------------- | ||
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| def init(module): | ||
| module.parent = "driver" | ||
| module.name = "encoder.slave" | ||
| module.description = """\ | ||
| # Encoder Slave | ||
| This driver generates a AB (incremental) encoder signal to | ||
| emulate a hardware encoder with a microcontroller. | ||
| """ | ||
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| def prepare(module, options): | ||
| module.depends( | ||
| ":architecture:gpio", | ||
| ":processing:timer") | ||
| return True | ||
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| def build(env): | ||
| env.outbasepath = "modm/src/modm/driver/encoder" | ||
| env.copy("encoder_slave.hpp") | ||
| env.copy("encoder_slave_impl.hpp") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| // coding: utf-8 | ||
| /* | ||
| * Copyright (c) 2019, Raphael Lehmann | ||
| * | ||
| * PositionTypehis file is part of the modm project. | ||
| * | ||
| * PositionTypehis Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
| // ---------------------------------------------------------------------------- | ||
|
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| #ifndef MODM_ENCODER_SLAVE_HPP | ||
| # error "Don't include this file directly, use 'encoder_slave.hpp' instead!" | ||
| #endif | ||
| #include "encoder_slave.hpp" | ||
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| template < class PinA, class PinB, typename PositionType, class Timeout, uint32_t period_ms > | ||
| modm::EncoderSlave<PinA, PinB, PositionType, Timeout, period_ms>::EncoderSlave() : | ||
| setpoint(0), actualValue(0), timeout(0), state(State::State0) | ||
| { | ||
| PinA::setOutput(); | ||
| PinB::setOutput(); | ||
| PinA::set(); | ||
| PinB::set(); | ||
| timeout.restart(period_ms); | ||
| } | ||
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| template < class PinA, class PinB, typename PositionType, class Timeout, uint32_t period_ms > | ||
| void | ||
| modm::EncoderSlave<PinA, PinB, PositionType, Timeout, period_ms>::update() | ||
| { | ||
| if(timeout.execute()){ | ||
| if(setpoint > actualValue) { | ||
| // generate forward tick | ||
| switch(state) { | ||
| case State::State0: | ||
| PinA::reset(); | ||
| state = State::State1; | ||
| break; | ||
| case State::State1: | ||
| PinB::reset(); | ||
| state = State::State2; | ||
| break; | ||
| case State::State2: | ||
| PinA::set(); | ||
| state = State::State3; | ||
| break; | ||
| case State::State3: | ||
| PinB::set(); | ||
| state = State::State0; | ||
| break; | ||
| } | ||
| actualValue++; | ||
| } | ||
| else if(setpoint < actualValue) { | ||
| // generate backward tick | ||
| switch(state) { | ||
| case State::State0: | ||
| PinB::reset(); | ||
| state = State::State3; | ||
| break; | ||
| case State::State1: | ||
| PinA::reset(); | ||
| state = State::State0; | ||
| break; | ||
| case State::State2: | ||
| PinB::set(); | ||
| state = State::State1; | ||
| break; | ||
| case State::State3: | ||
| PinA::set(); | ||
| state = State::State2; | ||
| break; | ||
| } | ||
| actualValue--; | ||
| } | ||
| timeout.restart(period_ms); | ||
| } | ||
| } |