Diff: EncoderCounterIndex.cpp

Revision:

3:29602f4ade5c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounterIndex.cpp	Thu Feb 25 20:28:16 2021 +0000
@@ -0,0 +1,39 @@
+/*
+ * EncoderCounterIndex.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ *
+ *  Created on: 13.08.2018
+ *      Author: Marcel Honegger
+ */
+
+#include <stdint.h>
+#include "EncoderCounter.h"
+#include "EncoderCounterIndex.h"
+
+using namespace std;
+
+/**
+ * Creates an object with an interrupt service routine to catch
+ * the current encoder position when an index pulse is received.
+ */
+EncoderCounterIndex::EncoderCounterIndex(EncoderCounter& encoderCounter, InterruptIn& channelIndex) : encoderCounter(encoderCounter), channelIndex(channelIndex) {
+    
+    // attach interrupt
+    
+    channelIndex.rise(callback(this, &EncoderCounterIndex::rise));
+}
+
+EncoderCounterIndex::~EncoderCounterIndex() {}
+
+int32_t EncoderCounterIndex::getPositionAtIndexPulse() {
+    
+    return positionAtIndexPulse;
+}
+
+void EncoderCounterIndex::rise() {
+    
+    positionAtIndexPulse = encoderCounter;
+}
+
+