Diff: include/Encoders/quadratureencodertask.hpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/Encoders/quadratureencodertask.hpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,75 @@
+/**
+ * @file quadratureencodertask.hpp
+ * @author  RBRO/PJ-IU
+ * @brief 
+ * @version 0.1
+ * @date 2018-10-23
+ * 
+ * @copyright Copyright (c) 2018
+ * 
+ */
+#ifndef QUADRATURE_ENCODER_TASK_HPP
+#define QUADRATURE_ENCODER_TASK_HPP
+
+#include <Encoders/encoderinterface.hpp>
+#include <Encoders/QuadratureEncoder.hpp>
+#include <Filter/Filter.hpp>
+
+#include <rtos.h>
+
+namespace encoders{
+
+/**
+ * @brief Rotary encoder with filter interface class
+ * 
+ */
+class CQuadratureEncoderNonFilteredGetterInterface{
+    public:
+      virtual int16_t  getNonFilteredCount()=0;
+      virtual float getNonFilteredSpeedRps() = 0;
+};
+
+/**
+ * @brief It implements a periodic task, which get the value from the counter and reset it to zero.
+ * 
+ */
+class CQuadratureEncoderTask:public IEncoderGetter{
+    public:
+      CQuadratureEncoderTask(float,encoders::CQuadratureEncoder_TIMX*,uint16_t);
+      static void static_callback(void* obj);
+
+      void startTimer();
+  protected:
+    virtual void _run();
+    virtual int16_t getCount();
+    virtual float getSpeedRps();
+    virtual bool isAbs(){return false;}
+  protected:
+      encoders::CQuadratureEncoder_TIMX *m_Quadratureencoder;
+      int16_t           m_encoderCnt;
+      const float       m_taskperiod_s;
+      const uint16_t    m_resolution;
+      RtosTimer         m_timer;
+};
+
+/**
+ * @brief It implements the same functionality than CQuadratureEncoderTask class, but in additional it can filter the values. 
+ * 
+ */
+class CQuadratureEncoderWithFilterTask: public CQuadratureEncoderTask, public CQuadratureEncoderNonFilteredGetterInterface{
+    public:
+      CQuadratureEncoderWithFilterTask(float,encoders::CQuadratureEncoder_TIMX *, uint16_t,filter::CFilterFunction<float>&);
+      virtual void _run();
+      virtual int16_t getCount();
+      virtual float getSpeedRps();
+      virtual int16_t  getNonFilteredCount();
+      virtual float getNonFilteredSpeedRps();
+    protected:
+      double m_encoderCntFiltered;
+      filter::CFilterFunction<float>& m_filter;
+
+};
+
+}; // namespace encoders
+
+#endif