Reiko Randoja
Firmware for UT Robotex 2018 basketball robot
QED/qed.h@0:ef6268629f0b, 2018-09-28 (annotated)
- Committer:
- Reiko
- Date:
- Fri Sep 28 10:46:57 2018 +0000
- Revision:
- 0:ef6268629f0b
Firmware for UT Robotex 2018 basketball robot
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Reiko | 0:ef6268629f0b | 1 | #ifndef QED_H |
| Reiko | 0:ef6268629f0b | 2 | #define QED_H |
| Reiko | 0:ef6268629f0b | 3 | |
| Reiko | 0:ef6268629f0b | 4 | #include "mbed.h" |
| Reiko | 0:ef6268629f0b | 5 | |
| Reiko | 0:ef6268629f0b | 6 | #define PREV_MASK 0x1 //Mask for the previous state in determining direction of rotation. |
| Reiko | 0:ef6268629f0b | 7 | #define CURR_MASK 0x2 //Mask for the current state in determining direction of rotation. |
| Reiko | 0:ef6268629f0b | 8 | #define INVALID 0x3 //XORing two states where both bits have changed. |
| Reiko | 0:ef6268629f0b | 9 | |
| Reiko | 0:ef6268629f0b | 10 | class QED { |
| Reiko | 0:ef6268629f0b | 11 | public: |
| Reiko | 0:ef6268629f0b | 12 | QED(PinName channelA, PinName channelB); |
| Reiko | 0:ef6268629f0b | 13 | |
| Reiko | 0:ef6268629f0b | 14 | int read(); |
| Reiko | 0:ef6268629f0b | 15 | |
| Reiko | 0:ef6268629f0b | 16 | private: |
| Reiko | 0:ef6268629f0b | 17 | void decode(); |
| Reiko | 0:ef6268629f0b | 18 | |
| Reiko | 0:ef6268629f0b | 19 | InterruptIn interruptA; |
| Reiko | 0:ef6268629f0b | 20 | InterruptIn interruptB; |
| Reiko | 0:ef6268629f0b | 21 | |
| Reiko | 0:ef6268629f0b | 22 | volatile int pulses; |
| Reiko | 0:ef6268629f0b | 23 | |
| Reiko | 0:ef6268629f0b | 24 | int prevState; |
| Reiko | 0:ef6268629f0b | 25 | int currState; |
| Reiko | 0:ef6268629f0b | 26 | }; |
| Reiko | 0:ef6268629f0b | 27 | |
| Reiko | 0:ef6268629f0b | 28 | #endif |