Ruprecht Altenburger / Library_Misc

2nd try

Dependents:   cuboid_balance

EncoderCounterIndex.cpp@3:29602f4ade5c, 2021-02-25 (annotated)

Committer:
altb2
Date:
Thu Feb 25 20:28:16 2021 +0000
Revision:
3:29602f4ade5c
First commit of Mirror actuato, still under construction, pins should be ok, next: check path planner;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 3:29602f4ade5c 1 /*
altb2 3:29602f4ade5c 2 * EncoderCounterIndex.cpp
altb2 3:29602f4ade5c 3 * Copyright (c) 2018, ZHAW
altb2 3:29602f4ade5c 4 * All rights reserved.
altb2 3:29602f4ade5c 5 *
altb2 3:29602f4ade5c 6 * Created on: 13.08.2018
altb2 3:29602f4ade5c 7 * Author: Marcel Honegger
altb2 3:29602f4ade5c 8 */
altb2 3:29602f4ade5c 9
altb2 3:29602f4ade5c 10 #include <stdint.h>
altb2 3:29602f4ade5c 11 #include "EncoderCounter.h"
altb2 3:29602f4ade5c 12 #include "EncoderCounterIndex.h"
altb2 3:29602f4ade5c 13
altb2 3:29602f4ade5c 14 using namespace std;
altb2 3:29602f4ade5c 15
altb2 3:29602f4ade5c 16 /**
altb2 3:29602f4ade5c 17 * Creates an object with an interrupt service routine to catch
altb2 3:29602f4ade5c 18 * the current encoder position when an index pulse is received.
altb2 3:29602f4ade5c 19 */
altb2 3:29602f4ade5c 20 EncoderCounterIndex::EncoderCounterIndex(EncoderCounter& encoderCounter, InterruptIn& channelIndex) : encoderCounter(encoderCounter), channelIndex(channelIndex) {
altb2 3:29602f4ade5c 21
altb2 3:29602f4ade5c 22 // attach interrupt
altb2 3:29602f4ade5c 23
altb2 3:29602f4ade5c 24 channelIndex.rise(callback(this, &EncoderCounterIndex::rise));
altb2 3:29602f4ade5c 25 }
altb2 3:29602f4ade5c 26
altb2 3:29602f4ade5c 27 EncoderCounterIndex::~EncoderCounterIndex() {}
altb2 3:29602f4ade5c 28
altb2 3:29602f4ade5c 29 int32_t EncoderCounterIndex::getPositionAtIndexPulse() {
altb2 3:29602f4ade5c 30
altb2 3:29602f4ade5c 31 return positionAtIndexPulse;
altb2 3:29602f4ade5c 32 }
altb2 3:29602f4ade5c 33
altb2 3:29602f4ade5c 34 void EncoderCounterIndex::rise() {
altb2 3:29602f4ade5c 35
altb2 3:29602f4ade5c 36 positionAtIndexPulse = encoderCounter;
altb2 3:29602f4ade5c 37 }
altb2 3:29602f4ade5c 38
altb2 3:29602f4ade5c 39