Revision 1:5b89addde1f0, committed 2019-09-20

Comitter:

MatthewMaat

Date:

Fri Sep 20 09:47:17 2019 +0000

Parent:

0:5c2ad81551aa

Commit message:

pwm test 2

Changed in this revision

diff -r 5c2ad81551aa -r 5b89addde1f0 encoder.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.h	Fri Sep 20 09:47:17 2019 +0000
@@ -0,0 +1,62 @@
+#ifndef _ENCODER_H_
+#define _ENCODER_H_
+
+#include "mbed.h"
+
+/** Encoder class.
+ *  Used to read out incremental position encoder. Decodes position in X2 configuration.
+ *
+ *  Speed estimation is very crude and computationally intensive. Turned off by default
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "Encoder.h"
+ *
+ *   Encoder motor1(PTD0,PTC9,true);
+ *   Serial pc(USBTX,USBRX);
+ *   pc.baud(115200);
+ *   while(1) {
+ *       wait(0.2);
+ *       pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
+ *   }
+ * @endcode
+ */
+class Encoder
+{
+    public:
+    /** Create Encoder instance
+    @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn.
+    @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location
+    @param speed boolean value to determine whether speed calculation is done in interrupt routine. Default false (no speed calculation)
+    */
+
+    Encoder(PinName int_a, PinName int_b, bool speed=false);
+    /** Request position
+    @returns current position in encoder counts
+    */
+    int32_t getPosition(){return m_position;}
+    /** Overwrite position
+    @param pos position to be written
+    */
+    void    setPosition(int32_t pos){m_position = pos;}
+    /** Request speed
+    @returns current speed
+    */
+    float   getSpeed(){return m_speed;}
+    private:
+    void encoderFalling(void);
+    void encoderRising(void);
+    bool m_speed_enabled;
+    Timer EncoderTimer;
+    Timeout EncoderTimeout;
+    InterruptIn pin_a;
+    DigitalIn pin_b;
+    int32_t m_position;
+    float   m_speed;
+    void timeouthandler(void);
+    bool zero_speed;
+};
+
+
+#endif //_ENCODER_H_
\ No newline at end of file