ISR UC / ISR_Mini-explorer

Energy harvesting mobile robot. Developed at Institute of Systems and Robotics — University of Coimbra.

Dependencies:   RF24

Dependents:   Mapping VirtualForces_debug OneFileToRuleThemAll VirtualForces_with_class ... more

Encoder.h@2:0435d1171673, 2018-02-20 (annotated)

Committer:
ISR
Date:
Tue Feb 20 17:17:41 2018 +0000
Revision:
2:0435d1171673
Parent:
1:8569ac717e68 
Global theta added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ISR 1:8569ac717e68 1 #ifndef ENCODER_H
ISR 1:8569ac717e68 2 #define ENCODER_H
ISR 1:8569ac717e68 3
ISR 1:8569ac717e68 4 #include "mbed.h"
ISR 1:8569ac717e68 5
ISR 1:8569ac717e68 6 /** Encoder class.
ISR 1:8569ac717e68 7 * Manages one magnetic encoder AS5600. Reads its absolute value and performs
ISR 1:8569ac717e68 8 * the conversion of the value to incremental valeu.
ISR 1:8569ac717e68 9 */
ISR 1:8569ac717e68 10 class Encoder
ISR 1:8569ac717e68 11 {
ISR 1:8569ac717e68 12 public:
ISR 1:8569ac717e68 13 Encoder(I2C* i2c_in, Mutex* mutex_in, char invert_in);
ISR 1:8569ac717e68 14 long int readAbsolute();
ISR 1:8569ac717e68 15 long int incremental();
ISR 1:8569ac717e68 16 long int readIncrementalValue();
ISR 1:8569ac717e68 17
ISR 1:8569ac717e68 18 private:
ISR 1:8569ac717e68 19 I2C* _i2c;
ISR 1:8569ac717e68 20 Mutex* _mutex;
ISR 1:8569ac717e68 21 short int prev_L;
ISR 1:8569ac717e68 22 long int total_L;
ISR 1:8569ac717e68 23 char _invert;
ISR 1:8569ac717e68 24 };
ISR 1:8569ac717e68 25
ISR 1:8569ac717e68 26 #endif