Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
Library_Misc/EncoderCounterIndex.cpp@16:28b6bb8a4b7f, 2021-05-02 (annotated)
- Committer:
- altb2
- Date:
- Sun May 02 08:55:44 2021 +0000
- Revision:
- 16:28b6bb8a4b7f
- Parent:
- 15:9f32f64eee5b
Final commit 4 students
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 15:9f32f64eee5b | 1 | /* |
altb2 | 15:9f32f64eee5b | 2 | * EncoderCounterIndex.cpp |
altb2 | 15:9f32f64eee5b | 3 | * Copyright (c) 2018, ZHAW |
altb2 | 15:9f32f64eee5b | 4 | * All rights reserved. |
altb2 | 15:9f32f64eee5b | 5 | * |
altb2 | 15:9f32f64eee5b | 6 | * Created on: 13.08.2018 |
altb2 | 15:9f32f64eee5b | 7 | * Author: Marcel Honegger |
altb2 | 15:9f32f64eee5b | 8 | */ |
altb2 | 15:9f32f64eee5b | 9 | |
altb2 | 15:9f32f64eee5b | 10 | #include <stdint.h> |
altb2 | 15:9f32f64eee5b | 11 | #include "EncoderCounter.h" |
altb2 | 15:9f32f64eee5b | 12 | #include "EncoderCounterIndex.h" |
altb2 | 15:9f32f64eee5b | 13 | |
altb2 | 15:9f32f64eee5b | 14 | using namespace std; |
altb2 | 15:9f32f64eee5b | 15 | |
altb2 | 15:9f32f64eee5b | 16 | /** |
altb2 | 15:9f32f64eee5b | 17 | * Creates an object with an interrupt service routine to catch |
altb2 | 15:9f32f64eee5b | 18 | * the current encoder position when an index pulse is received. |
altb2 | 15:9f32f64eee5b | 19 | */ |
altb2 | 15:9f32f64eee5b | 20 | EncoderCounterIndex::EncoderCounterIndex(EncoderCounter& encoderCounter, InterruptIn& channelIndex) : encoderCounter(encoderCounter), channelIndex(channelIndex) { |
altb2 | 15:9f32f64eee5b | 21 | |
altb2 | 15:9f32f64eee5b | 22 | // attach interrupt |
altb2 | 15:9f32f64eee5b | 23 | |
altb2 | 15:9f32f64eee5b | 24 | channelIndex.rise(callback(this, &EncoderCounterIndex::rise)); |
altb2 | 15:9f32f64eee5b | 25 | } |
altb2 | 15:9f32f64eee5b | 26 | |
altb2 | 15:9f32f64eee5b | 27 | EncoderCounterIndex::~EncoderCounterIndex() {} |
altb2 | 15:9f32f64eee5b | 28 | |
altb2 | 15:9f32f64eee5b | 29 | int32_t EncoderCounterIndex::getPositionAtIndexPulse() { |
altb2 | 15:9f32f64eee5b | 30 | |
altb2 | 15:9f32f64eee5b | 31 | return positionAtIndexPulse; |
altb2 | 15:9f32f64eee5b | 32 | } |
altb2 | 15:9f32f64eee5b | 33 | |
altb2 | 15:9f32f64eee5b | 34 | void EncoderCounterIndex::rise() { |
altb2 | 15:9f32f64eee5b | 35 | |
altb2 | 15:9f32f64eee5b | 36 | positionAtIndexPulse = encoderCounter; |
altb2 | 15:9f32f64eee5b | 37 | channelIndex.rise(NULL); |
altb2 | 15:9f32f64eee5b | 38 | } |
altb2 | 15:9f32f64eee5b | 39 | |
altb2 | 15:9f32f64eee5b | 40 |