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Dependencies: HIDScope
Dependents: Project_motor Project_motor Motor_poscontrol Conceptcontroller_v_1_0
Fork of
Encoder
by 
Biorobotics Project
Encoder Class Reference
#include <encoder.h>
Public Member Functions | |
| Encoder (PinName int_a, PinName int_b, bool speed=false) | |
| Create Encoder instance. | |
| int32_t | getPosition () |
| Request position. | |
| void | setPosition (int32_t pos) |
| Overwrite position. | |
Data Fields | |
| float | m_speed |
| Request speed. | |
Detailed Description
Encoder class.
Used to read out incremental position encoder. Decodes position in X2 configuration.
Speed estimation is very crude and computationally intensive. Turned off by default
Example:
#include "mbed.h" #include "Encoder.h" Encoder motor1(PTD0,PTC9,true); Serial pc(USBTX,USBRX); pc.baud(115200); while(1) { wait(0.2); pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed()); }
Definition at line 25 of file encoder.h.
Constructor & Destructor Documentation
| Encoder | ( | PinName | int_a, |
| PinName | int_b, | ||
| bool | speed = false |
||
| ) |
Create Encoder instance.
- Parameters:
-
int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn. int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location speed boolean value to determine whether speed calculation is done in interrupt routine. Default false (no speed calculation)
Definition at line 5 of file encoder.cpp.
Member Function Documentation
| int32_t getPosition | ( | ) |
| void setPosition | ( | int32_t | pos ) |
Field Documentation
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