Austin Buchan / ServoController

Decoupled position and current control working.

Dependencies:   QEI mbed-src

Encoder.cpp

Committer:
abuchan
Date:
2015-11-24
Revision:
4:5ae9f8b3a16f

File content as of revision 4:5ae9f8b3a16f:

#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());
}