encoder_base.hpp

[詳解]

#pragma once
 
#include <algorithm>
#include <cmath>
#include <cstdint>
 
namespace tutrcos {
namespace module {
 
class EncoderBase {
public:
  EncoderBase(int64_t cpr) : cpr_{cpr} {}
  virtual ~EncoderBase() {}
 
  int64_t get_cpr() { return cpr_; }
  int64_t get_count() { return count_; }
 
  virtual float get_rotation() { return static_cast<float>(count_) / cpr_; }
  virtual float get_rad() { return get_rotation() * 2 * M_PI; }
  virtual float get_degree() { return get_rotation() * 360; }
 
  virtual float get_rps() { return delta_ / dt_ / cpr_; }
  virtual float get_rpm() { return get_rps() * 60; }
  virtual float get_radps() { return get_rps() * 2 * M_PI; }
  virtual float get_radpm() { return get_rpm() * 2 * M_PI; }
 
protected:
  void set_count(int64_t count) {
    delta_ = count - count_;
    count_ = count;
    uint32_t tick = core::Kernel::get_ticks();
    dt_ = std::min<uint32_t>(tick - prev_tick_, 1) / 1000.0f;
    prev_tick_ = tick;
  }
 
private:
  int64_t cpr_;
  uint32_t prev_tick_;
  float dt_;
  int64_t count_ = 0;
  int64_t delta_ = 0;
};
 
} // namespace module
} // namespace tutrcos