Diff: REnc.cpp

Revision:

0:c905f9e6866f

Child:

1:2732adb68dad

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/REnc.cpp	Sat Jul 26 22:49:27 2014 +0000
@@ -0,0 +1,51 @@
+#include "REnc.h"
+#include "mbed.h"
+
+/** class to make sound with a buzzer, based on a PwmOut
+ *   The class use a timeout to switch off the sound  - it is not blocking while making noise
+ *
+ * Example:
+ * @code
+ * @endcode
+ */
+
+using namespace mbed;
+ // constructor
+ /** Create a Beep object connected to the specified PwmOut pin
+  *
+  * @param pin PwmOut pin to connect to 
+  */
+
+void REnc::sample_encoder(void)
+{
+    static unsigned char i;
+
+    i = (i << 2) + ((~_pinb & 0x01)<< 1) + (~_pina & 0x1);
+    i &= 0xf;
+    
+    switch (i) {
+        case 0x7:
+        case 0xe:
+            CMD = FORWARD;
+            if (mRightCallback != NULL)  { mRightCallback();  CMD = IDLE; }
+            break;
+        case 0xb:
+        case 0xd:
+            CMD = BACKWARD;
+            if (mLeftCallback != NULL)   { mLeftCallback();   CMD = IDLE; } 
+            break;
+        default:
+            CMD = IDLE;
+    }
+}
+
+void REnc::setHandleRight(void (*fptr)(void))  { mRightCallback = fptr; }
+void REnc::setHandleLeft(void (*fptr)(void))   { mLeftCallback  = fptr; }
+
+REnc::REnc(PinName pina, PinName pinb) : _pina(pina), _pinb(pinb)
+{
+    CMD = IDLE;
+    mRightCallback  = NULL;
+    mLeftCallback   = NULL;
+    _tick.attach(this, &REnc::sample_encoder, 0.01);
+}