36 lines
745 B
C++
36 lines
745 B
C++
#ifndef PIBOT_ENCODER_IMP_H_
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#define PIBOT_ENCODER_IMP_H_
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#include "encoder.h"
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//编码器实现 编码器原理具体可以参考https://www.jianshu.com/p/068fb9882655
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class EncoderImp : public Encoder
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{
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public:
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EncoderImp(unsigned char num, bool _reverse=0);
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//初始化
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virtual void init();
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//清除编码器
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virtual void clear();
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//获取累计编码器值
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virtual long get_total_count();
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//获取编码器变化值， 用于pid计算
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virtual long get_increment_count_for_dopid();
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//获取编码器变化值， 用于odom计算
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virtual long get_increment_count_for_odom();
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unsigned char get_reverse(){return reverse;}
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private:
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bool reverse;
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unsigned char num;
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long pid_pos, odom_pos;
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float total_count;
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};
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#endif
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