Austin Buchan
Decoupled position and current control working.
Diff: Encoder.cpp
- Revision:
- 4:5ae9f8b3a16f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.cpp Tue Nov 24 03:56:22 2015 +0000
@@ -0,0 +1,21 @@
+#include "Encoder.h"
+
+//Encoder steps to revolutions of output shaft in radians
+float pulsesToRadians(float pulses) {
+ return ((pulses/ENC_STEPS_PER_REV)*(2.0*PI));
+}
+
+//Encoder steps to revolutions of output shaft in degrees
+float pulsesToDegrees(float pulses) {
+ return ((pulses/ENC_STEPS_PER_REV)*360.0);
+}
+
+Encoder::Encoder(PinName enc_a_pin, PinName enc_b_pin): qei_(enc_a_pin, enc_b_pin, NC, ENC_STEPS_PER_REV, QEI::X4_ENCODING) {
+ //Use X4 encoding.
+ //(encoder channel 1, encoder channel 2, index (n/a here), counts per revolution, mode (X4, X2))
+ //QEI ;
+}
+
+float Encoder::get_position(void) {
+ return pulsesToRadians(qei_.getPulses());
+}