encoder class
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main.cpp
00001 #include "mbed.h" 00002 #include "QEI.h" 00003 00004 class Encoder{ 00005 private: 00006 double pulses, wheelCircum; 00007 Ticker tkr; 00008 QEI encoder; 00009 public: 00010 Encoder(PinName CHA, PinName CHB):encoder(CHA, CHB, NC, 624){ 00011 tkr.attach(callback(this, &Encoder::FindPulses), 0.01); 00012 } 00013 void FindPulses(){ 00014 pulses = encoder.getPulses(); 00015 tkr.attach(callback(this, &Encoder::FindPulses), 0.01); 00016 } 00017 double FindSpeed(){ 00018 return pulses*wheelCircum; 00019 } 00020 }; 00021 00022 int main() { 00023 Encoder leftEncoder(PC_2, PC_1); 00024 Encoder rightEncoder(PC_15, PC_14); 00025 00026 while(true){ 00027 wait(1); 00028 leftEncoder.FindSpeed(); 00029 rightEncoder.FindSpeed(); 00030 } 00031 }
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