Diff: encoder.cpp

Revision:

4:69be34f39c9f

Parent:

2:0998a8fd7727

Parent:

3:dcb7bdc73882

Child:

5:04c4a90c7a0a

--- a/encoder.cpp	Mon Nov 04 09:56:06 2013 +0000
+++ b/encoder.cpp	Mon Sep 29 15:51:28 2014 +0000
@@ -1,13 +1,12 @@
 
 #include "encoder.h"
 
-Encoder::Encoder(PinName pos_a, PinName pos_b) : pin_a(pos_a), pin_b(pos_b)
+
+Encoder::Encoder(PinName int_a, PinName int_b, bool speed=false) : pin_a(int_a), pin_b(int_b)
 {
-    DigitalOut rled(LED_RED);
-    rled = 0;
-    EncoderTimer.start();
-    pin_a.mode(PullUp);
-    pin_b.mode(PullUp);
+    m_speed_enabled = speed;
+    if(m_speed_enabled)
+        EncoderTimer.start();
     pin_a.fall(this,&Encoder::encoderFalling);
     pin_a.rise(this,&Encoder::encoderRising);
     m_position = 0;
@@ -18,16 +17,20 @@
 void Encoder::encoderFalling(void)
 {
     //temporary speed storage, in case higher interrupt level does stuff
-    float temp_speed;
-    //int motortime_now = EncoderTimer.read_us();
-    //EncoderTimer.reset();
-    //EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
-    /*calculate as ticks per second*/
-    //if(zero_speed)
-    //    temp_speed  = 0;
-    //else
-    //    temp_speed = 1000000./motortime_now;
-    //zero_speed = false;
+    float temp_speed=0;
+    int motortime_now
+    if(m_speed_enabled)
+    {
+        motortime_now = EncoderTimer.read_us();
+        EncoderTimer.reset();
+        EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
+        /*calculate as ticks per second*/
+        if(zero_speed)
+            temp_speed  = 0;
+        else
+            temp_speed = 1000000./motortime_now;
+        zero_speed = false;
+    }
     if(pin_b)
     {
         m_position++;
@@ -43,16 +46,20 @@
 void Encoder::encoderRising(void)
 {
     //temporary speed storage, in case higher interrupt level does stuff
-    float temp_speed;
-    //int motortime_now = EncoderTimer.read_us();
-    //EncoderTimer.reset();
-    //EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
-    /*calculate as ticks per second*/
-    //if(zero_speed)
-    //    temp_speed  = 0;
-    //else
-    //    temp_speed = 1000000./motortime_now;
-    //zero_speed = false;
+
+    float temp_speed=0;
+    int motortime_now;
+    if(m_speed_enabled)
+    {
+        EncoderTimer.reset();
+        EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
+        /*calculate as ticks per second*/
+        if(zero_speed)
+            temp_speed  = 0;
+        else
+            temp_speed = 1000000./motortime_now;
+        zero_speed = false;
+    }
     if(pin_b)
     {
         m_position--;