Buggy bois / Mbed 2 deprecated HEATS_2

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Show/hide line numbers Encoder.h Source File

Encoder.h

00001 //works only in x2 encoding (512 counts per second)
00002 #include "QEI.h"
00003 class Encoder: public QEI {  
00004     private:
00005     Timer dT; //to calculate rate of change of encoder ticks.
00006     int prevPulses;
00007     
00008     public:
00009     
00010     Encoder(PinName A, PinName B) : QEI(A,B,NC,256,X2_ENCODING)
00011     {
00012         prevPulses = 0;
00013         dT.stop();
00014         
00015     };
00016         
00017     float encoderTickRate() {
00018         int PP = prevPulses;
00019         int CP = QEI::getPulses();
00020         float deltaT = dT.read();
00021         prevPulses = CP;
00022         dT.reset();
00023         return ((float)(CP-PP)/deltaT);
00024         };
00025         
00026     void startTimer(void)
00027     {
00028      dT.start();   
00029     }
00030 
00031 };
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