File content as of revision 11:9027eda171c1:

#include "encoder.h"


Encoder::Encoder(PinName int_a, PinName int_b, bool speed) : pin_a(int_a), pin_b(int_b)
{
    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;
    m_speed = 0;
    zero_speed = false;
}
 
void Encoder::encoderFalling(void)
{
    //temporary speed storage, in case higher interrupt level does stuff
    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++;
        m_speed = temp_speed;
    }
    else
    {
        m_position--;    
        m_speed  = -temp_speed; //negative speed
    }
}

void Encoder::encoderRising(void)
{
    //temporary speed storage, in case higher interrupt level does stuff

    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--;
        m_speed = -temp_speed; //negative speed
    }
    else
    {
        m_position++;    
        m_speed  = temp_speed; 
    }
}

void Encoder::timeouthandler(void)
{
    m_speed  = 0;
    zero_speed = true;
}