ISR UC
Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.
Dependents: Mapping VirtualForces_debug OneFileToRuleThemAll VirtualForces_with_class ... more
Diff: Encoder.h
- Revision:
- 1:8569ac717e68
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.h Tue Feb 20 13:37:47 2018 +0000
@@ -0,0 +1,26 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include "mbed.h"
+
+/** Encoder class.
+ * Manages one magnetic encoder AS5600. Reads its absolute value and performs
+ * the conversion of the value to incremental valeu.
+ */
+class Encoder
+{
+public:
+ Encoder(I2C* i2c_in, Mutex* mutex_in, char invert_in);
+ long int readAbsolute();
+ long int incremental();
+ long int readIncrementalValue();
+
+private:
+ I2C* _i2c;
+ Mutex* _mutex;
+ short int prev_L;
+ long int total_L;
+ char _invert;
+};
+
+#endif
\ No newline at end of file