Diff: QEI/Encoder.h

Revision:

3:01b5e80d842d

Child:

4:208f5279143a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI/Encoder.h	Sat Mar 09 14:27:48 2019 +0000
@@ -0,0 +1,31 @@
+//works only in x2 encoding (512 counts per second)
+#include "QEI.h"
+class Encoder: public QEI {  
+    private:
+    Timer dT; //to calculate rate of change of encoder ticks.
+    int prevPulses;
+    
+    public:
+    
+    Encoder(PinName A, PinName B) : QEI(A,B,NC,256,X2_ENCODING)
+    {
+        prevPulses = 0;
+        dT.stop();
+        
+    };
+        
+    float encoderTickRate() {
+        int PP = prevPulses;
+        int CP = QEI::getPulses();
+        float deltaT = dT.read();
+        prevPulses = CP;
+        dT.reset();
+        return ((float)(CP-PP)/deltaT);
+        };
+        
+    void startTimer(void)
+    {
+     dT.start();   
+    }
+
+};
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