Biorobotics Project / Motor_with_encoder

Motor is operated by keyboard commands, encoder reads out position but not yet speed

Dependencies:   HIDScope

Dependents:   Project_motor Project_motor Motor_poscontrol Conceptcontroller_v_1_0

Fork of Encoder by Biorobotics Project

Diff: encoder.h

Revision:
0:c90b36abcbf8
Child:
1:2dd7853c911a
diff -r 000000000000 -r c90b36abcbf8 encoder.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.h	Wed Sep 25 14:55:08 2013 +0000
@@ -0,0 +1,27 @@
+#ifndef _ENCODER_H_
+#define _ENCODER_H_
+
+#include "mbed.h"
+
+class Encoder
+{
+    public:
+    Encoder(PinName int_a, PinName int_b);
+    int32_t getPosition(){return m_position;}
+    void    setPosition(int32_t pos){m_position = pos;}
+    float   getSpeed(){return m_speed;}
+    private:
+    void encoderFalling(void);
+    void encoderRising(void);
+    Timer EncoderTimer;
+    Timeout EncoderTimeout;
+    InterruptIn pin_a;
+    DigitalIn pin_b;
+    int32_t m_position;
+    float   m_speed;
+    void timeouthandler(void);
+    bool zero_speed;
+};
+
+
+#endif //_ENCODER_H_
\ No newline at end of file