Diff: Peripherien/Encoder.h

Revision:

7:15e6fc689368

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Peripherien/Encoder.h	Thu May 16 20:42:39 2019 +0000
@@ -0,0 +1,48 @@
+
+
+#ifndef ENCODER_H_
+#define ENCODER_H_
+
+#include <cstdlib>
+#include "mbed.h" 
+
+
+/**
+ * This class implements a driver to read the quadrature
+ * encoder counter of the STM32 microcontroller.
+ */
+   
+  
+class Encoder {
+    
+    public:
+        
+                        Encoder(PinName& hallsensor);
+        virtual         ~Encoder();
+        uint8_t         reset();                // Reset pulse count to 49000, return 0 when not resetted or 1 when resetted
+        uint32_t        read();                 // Return Pulses 196000 pulses per Rotation(Pedals)
+        float           readAngle();            // Return Angle in Radiants 
+        float           readFrequency();         // Return Drehzahl der pedale in rad/s
+        float           readAcceleration();     // Return Acceleration of pedale in rad/s^2
+        float           readRPM();              // Return Drehzahl in RPM 
+        void            ResetInterrupt();      
+        operator short();
+        
+        
+    private:
+        
+        TIM_TypeDef*        TIM;
+        InterruptIn         HallSensor;
+        PinName             hallsensor;
+        Ticker              ticker;
+        void                calculateFrequency(); // Fucntion, which calculate the frequency every 5ms
+        
+        const static float  PI = 3.141592654;
+        const static float  dt = 0.005; // 5ms 
+        uint8_t             resetOn;
+        float               frequency;
+        float               acceleration;
+        
+};
+
+#endif /* ENCODER_COUNTER_H_ */