Diff: encoderBase.cpp

Revision:

3:c9df852ad9ac

Parent:

2:7f4be54c7257

Child:

4:48d390356fba

--- a/encoderBase.cpp	Fri Feb 16 19:30:19 2018 +0000
+++ b/encoderBase.cpp	Wed Feb 21 11:55:29 2018 +0000
@@ -1,50 +1,35 @@
 #include "mbed.h"
 #include "QEI.h"
-#include "pins.cpp"
-#define ENCODER_PULSE 256 //per manual
-#define GEAR_RATIO 
-#define SAMPLE_TIME 1.0f //user defined
-#define WHEEL_DISTANCE //need to measure that
+#include "pins.h"
+#include "constants.h"
+
 
 //these lines setup the encoders for both wheels
-QEI encoderRight(channelARight, channelBRight, channelIRight, ENCODER_PULSE);
-QEI encoderLeft(channelALeft, channelBLeft, channelILeft, ENCODER_PULSE);
 
 //main wheel class, the subclasses should follow later
 class Wheel{
     int currentPulses, previousPulses;
     public:
-        float velocity(){
-            return encoderVelocity*GEAR_RATIO;
+        float velocity(int wheelPulses){
+            return encoderVelocity(wheelPulses)*GEAR_RATIO;
         }
     private:
-        float sampleTime= SAMPLE_TIME;
-        int gearRatio = GEAR_RATIO;
-        float encoderVelocity(encoderPulse){
-            wait(sampleTIme);
-            previousEncoderPulses=currentEncoderPulses;
-            currentEncoderPulses=encoderPulse;
+        float encoderVelocity(int encoderPulse){
+            wait(SAMPLE_TIME);
+            previousPulses=currentPulses;
+            currentPulses=encoderPulse;
+            return (currentPulses-previousPulses)/SAMPLE_TIME;
         }
 
 } wheelRight, wheelLeft;
 
-class WheelLeft
-
 //call this for speed, linear and angular
 class Buggy{
     public:
-        float speedLinear(){
-            return (wheelRight.velocity()+wheelLeft.velocity())/2;
+        float speedLinear(int pulseRight, int pulseLeft){
+            return (wheelRight.velocity(pulseRight)+wheelLeft.velocity(pulseLeft))/2;
             }
-        float speedAngular(){
-            return (wheelRight.velocity()-wheelLeft.velocity())/WHEEL_DISTANCE;
+        float speedAngular(int pulseRight, int pulseLeft){
+            return (wheelRight.velocity(pulseRight)-wheelLeft.velocity(pulseLeft))/WHEEL_DISTANCE;
             }
     }buggy;
-    
-int speedMeasure(int encoderSide){
-        wheelRight.currentPulses(&encoderRight.getPulses());
-        wheelLeft.currentPulses(&encoderLeft.getPulses());
-    }//set this as an interupt routine on the timer based on SAMPLE_TIME
-
-
-