encoder.h

00001 #ifndef ENCODER_H
00002 #define ENCODER_H
00003 #include "mbed.h"
00004 class Encoder {
00005 public:
00006     volatile int pulses;
00007     Encoder(PinName channelA, PinName channelB);
00008     
00009     //Reset the encoder
00010     void reset(void);
00011     
00012     //Gets pulses by directly querying the encoder.
00013     operator int() {
00014         return pulses;
00015     }
00016     
00017     
00018     // Reset both encoders
00019     void resetEncoders();
00020 
00021     // Returns the average number of pulses across both encoders since last reset. Unit is encoder pulses; intended for straight driving only.
00022     int getEncoderDistance(bool left);
00023     
00024 private:
00025     InterruptIn channelA_;
00026     InterruptIn channelB_;
00027     int prevState_;
00028     int currState_;
00029     
00030     void encode(void);
00031 };
00032 
00033 
00034 
00035 extern Encoder leftEncoder;
00036 extern Encoder rightEncoder;
00037 
00038 
00039 #endif