Diff: QEI.h

Revision:

0:e2d42e66534c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.h	Wed Aug 22 13:41:41 2018 +0000
@@ -0,0 +1,75 @@
+
+
+#ifndef QEI_H
+#define QEI_H
+
+
+#include "mbed.h"
+
+#define PREV_MASK 0x1 //Mask for the previous state in determining direction
+//of rotation.
+#define CURR_MASK 0x2 //Mask for the current state in determining direction
+//of rotation.
+#define INVALID   0x3 //XORing two states where both bits have changed.
+
+class QEI {
+
+public:
+
+    typedef enum Encoding {
+
+        X2_ENCODING,
+        X4_ENCODING
+
+    } Encoding;
+
+
+    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding = X2_ENCODING);
+
+    void reset(void);
+
+    int getCurrentState(void);
+
+
+    void set(int pul , int rev);  
+     
+    long getPulses(void);
+
+    int getRevolutions(void);
+    
+    int getAng_rev();
+    
+    double getAngle();
+    double getSumangle();
+    double getRPM();
+    double getRPS();
+    double getRPMS();
+    double getRPUS();
+    int          pulsesPerRev_;
+private:
+    Timer Mper , Rper ,MSper ,USper; 
+    Ticker Tick;
+    double RPM , RPS ,RPMS , RPUS;
+
+    void encode(void);
+
+ 
+    void index(void);
+
+    Encoding encoding_;
+
+    InterruptIn channelA_;
+    InterruptIn channelB_;
+    InterruptIn index_;
+    int          round_rev;
+
+    int          prevState_;
+    int          currState_;
+    double angle_ , sumangle;
+    int angle_pulses;
+    volatile int pulses_;
+    volatile int revolutions_;
+
+};
+
+#endif