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Dependencies:   mbed

QEI/Encoder.h@4:208f5279143a, 2019-03-23 (annotated)

Committer:
mazdo25
Date:
Sat Mar 23 19:46:09 2019 +0000
Revision:
4:208f5279143a
Parent:
3:01b5e80d842d 
latest working, but line following not;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazdo25 3:01b5e80d842d 1 //works only in x2 encoding (512 counts per second)
mazdo25 3:01b5e80d842d 2 #include "QEI.h"
mazdo25 3:01b5e80d842d 3 class Encoder: public QEI {
mazdo25 3:01b5e80d842d 4 private:
mazdo25 3:01b5e80d842d 5 Timer dT; //to calculate rate of change of encoder ticks.
mazdo25 3:01b5e80d842d 6 int prevPulses;
mazdo25 3:01b5e80d842d 7
mazdo25 3:01b5e80d842d 8 public:
mazdo25 3:01b5e80d842d 9
mazdo25 3:01b5e80d842d 10 Encoder(PinName A, PinName B) : QEI(A,B,NC,256,X2_ENCODING)
mazdo25 3:01b5e80d842d 11 {
mazdo25 3:01b5e80d842d 12 prevPulses = 0;
mazdo25 3:01b5e80d842d 13 dT.stop();
mazdo25 3:01b5e80d842d 14
mazdo25 3:01b5e80d842d 15 };
mazdo25 3:01b5e80d842d 16
mazdo25 3:01b5e80d842d 17 float encoderTickRate() {
mazdo25 3:01b5e80d842d 18 int PP = prevPulses;
mazdo25 3:01b5e80d842d 19 int CP = QEI::getPulses();
mazdo25 3:01b5e80d842d 20 float deltaT = dT.read();
mazdo25 3:01b5e80d842d 21 prevPulses = CP;
mazdo25 3:01b5e80d842d 22 dT.reset();
mazdo25 3:01b5e80d842d 23 return ((float)(CP-PP)/deltaT);
mazdo25 3:01b5e80d842d 24 };
mazdo25 3:01b5e80d842d 25
mazdo25 3:01b5e80d842d 26 void startTimer(void)
mazdo25 3:01b5e80d842d 27 {
mazdo25 3:01b5e80d842d 28 dT.start();
mazdo25 3:01b5e80d842d 29 }
mazdo25 3:01b5e80d842d 30
mazdo25 4:208f5279143a 31 };