rotaryencoder.java

采用PCI1020芯片控制三个电机

package cn.com.yuzhiqiang.pcimotor;

public class RotaryEncoder extends ControlMotor {
	private static int ILastposition_left = 0;

	private static int ILastposition_right = 0;

	private static int IMeasureDistance = 0;

	private static int ICurrentposition_left = 0;

	private static int ICurrentposition_right = 0;

	private static void RecordLeftPosition() {
		ILastposition_left = ICurrentposition_left;
		ICurrentposition_left = ControlMotor.ReadEP(motor.ZAXIS);// 用Z轴的实位计数器
	}

	private static void RecordRightPosition() {
		ILastposition_right = ICurrentposition_right;
		ICurrentposition_right = ControlMotor.ReadEP(motor.UAXIS);// 用U轴的实为计数器
	}

	public static void MeasureDistance() {
		RecordLeftPosition();
		RecordRightPosition();

		// 考虑实位计数器到达极限时变小的情况  
		int iLeftdistance = ICurrentposition_left - ILastposition_left;
		int iRightdistance = ICurrentposition_right - ILastposition_right;
		if (ICurrentposition_left < ILastposition_left)
			iLeftdistance += 2147483647;
		if (ICurrentposition_right < ILastposition_right)
			iRightdistance += 2147483647;
		IMeasureDistance = (iLeftdistance + iRightdistance) / 2;//还要考虑到减速齿轮
	}

	public static int ReadLLposition() {
		return ILastposition_left;
	}

	public static int ReadLCposition() {
		return ICurrentposition_left;
	}

	public static int ReadRLposition() {
		return ILastposition_right;
	}

	public static int ReadRCposition() {
		return ICurrentposition_right;
	}

	public static int ReadMeasureDistance() {
		return IMeasureDistance;
	}
}