Diff: Encoder.cpp

Revision:

1:ff2c7733729e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.cpp	Wed Sep 21 19:45:35 2016 +0000
@@ -0,0 +1,97 @@
+#include "Encoder.h"
+
+Encoder::Encoder(PinName InA, PinName InB) : _pinA(InA), _pinB(InB), _inA(InA), _inB(InB) {
+        _inA.rise(this,&Encoder::inAhi);
+        _inA.fall(this,&Encoder::inAlo);
+        _inB.rise(this,&Encoder::inBhi);
+        _inB.fall(this,&Encoder::inBlo);  
+        
+        puls = 0;
+        dist = 0;
+        total_dist = 0;
+}
+
+int Encoder::getDist()
+{
+    dist=puls;
+    puls=0;
+    total_dist+=dist;
+    return dist;
+}
+
+int Encoder::getTotalDist()
+{
+    return total_dist;
+}
+
+void Encoder::clr()
+{
+    total_dist=0;
+}
+
+void Encoder::setEnabled(bool state)
+{
+    if(state)
+    {
+        enabled = 1;
+        enable_irq();
+    }
+    else
+    {
+        enabled = 0;
+        disable_irq();
+    }
+}
+
+bool Encoder::isEnabled()
+{
+    return enabled;
+}
+
+// ********************
+// *** Private voids **
+// ********************
+
+void Encoder::enable_irq()
+{
+    _inA.enable_irq();
+    _inB.enable_irq();
+}
+
+void Encoder::disable_irq()
+{
+    _inA.disable_irq();
+    _inB.disable_irq();
+}
+
+void Encoder::inAhi()
+{
+    if(_pinB)
+        puls--;
+    else
+        puls++;
+}
+
+void Encoder::inAlo()
+{
+    if(_pinB)
+        puls++;
+    else
+        puls--;
+}
+
+void Encoder::inBhi()
+{
+    if(_pinA)
+        puls++;
+    else
+        puls--;
+}
+
+void Encoder::inBlo()
+{
+    if(_pinA)
+        puls--;
+    else
+        puls++;
+}