Revision 1:bce581f398eb, committed 2018-08-13

Comitter:

CodyMarquardt

Date:

Mon Aug 13 18:49:19 2018 +0000

Parent:

0:5c2ad81551aa

Commit message:

also mini glider

Changed in this revision

diff -r 5c2ad81551aa -r bce581f398eb QEI.cpp
--- a/QEI.cpp	Thu Sep 02 16:48:55 2010 +0000
+++ b/QEI.cpp	Mon Aug 13 18:49:19 2018 +0000
@@ -127,6 +127,8 @@
  * Includes
  */
 #include "QEI.h"
+#include "PololuHBridge.hpp"
+#include "mbed.h"
 
 QEI::QEI(PinName channelA,
          PinName channelB,
@@ -170,16 +172,27 @@
 
     pulses_      = 0;
     revolutions_ = 0;
+}
 
+void QEI::check(float BE_array[], float _BE_mm){
+    BE_array[4] = BE_array[3];
+    BE_array[3] = BE_array[2];
+    BE_array[2] = BE_array[1];
+    BE_array[1] = BE_array[0];
+    BE_array[0] = _BE_mm;
+    if (BE_array[4] - BE_array[0] == 0){
+        BE_array[0] = 999;
+    }
 }
 
+
 int QEI::getCurrentState(void) {
 
     return currState_;
 
 }
 
-int QEI::getPulses(void) {
+float QEI::getPulses(void) {
 
     return pulses_;
 
@@ -250,14 +263,14 @@
         if ((prevState_ == 0x3 && currState_ == 0x0) ||
                 (prevState_ == 0x0 && currState_ == 0x3)) {
 
-            pulses_++;
+            pulses_--;
 
         }
         //10->01->10->01 is clockwise rotation or "backward".
         else if ((prevState_ == 0x2 && currState_ == 0x1) ||
                  (prevState_ == 0x1 && currState_ == 0x2)) {
 
-            pulses_--;
+            pulses_++;
 
         }
 

diff -r 5c2ad81551aa -r bce581f398eb QEI.h
--- a/QEI.h	Thu Sep 02 16:48:55 2010 +0000
+++ b/QEI.h	Mon Aug 13 18:49:19 2018 +0000
@@ -199,7 +199,7 @@
      *
      * @return Number of pulses which have occured.
      */
-    int getPulses(void);
+    float getPulses(void);
 
     /**
      * Read the number of revolutions recorded by the encoder on the index channel.
@@ -207,6 +207,9 @@
      * @return Number of revolutions which have occured on the index channel.
      */
     int getRevolutions(void);
+    float BE_array;
+    char _input1;
+    void check(float BE_array[], float _BE_mm);
 
 private: