Yuan Cao / pushtogo

Telescope Control Library

Dependents:   PushToGo-F429

SerialGrayAbsEncoder.h@19:fd854309cb4c, 2018-09-24 (annotated)

Committer:
caoyu@caoyuan9642-desktop.MIT.EDU
Date:
Mon Sep 24 19:36:48 2018 -0400
Revision:
19:fd854309cb4c
Parent:
0:6cb2eaf8b133 
Fix bug in nudging with small speeds mentioned in the last commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
caoyuan9642 0:6cb2eaf8b133 1 /*
caoyuan9642 0:6cb2eaf8b133 2 * OmronE6CPDriver.h
caoyuan9642 0:6cb2eaf8b133 3 *
caoyuan9642 0:6cb2eaf8b133 4 * Created on: 2018Äê2ÔÂ7ÈÕ
caoyuan9642 0:6cb2eaf8b133 5 * Author: caoyuan9642
caoyuan9642 0:6cb2eaf8b133 6 */
caoyuan9642 0:6cb2eaf8b133 7
caoyuan9642 0:6cb2eaf8b133 8 #ifndef TELESCOPE_DRIVER_SERIALGRAYABSENCODER_H_
caoyuan9642 0:6cb2eaf8b133 9 #define TELESCOPE_DRIVER_SERIALGRAYABSENCODER_H_
caoyuan9642 0:6cb2eaf8b133 10
caoyuan9642 0:6cb2eaf8b133 11 #include <GrayAbsEncoder.h>
caoyuan9642 0:6cb2eaf8b133 12 #include <SerialDigitalInput.h>
caoyuan9642 0:6cb2eaf8b133 13 #include "mbed.h"
caoyuan9642 0:6cb2eaf8b133 14
caoyuan9642 0:6cb2eaf8b133 15 template<uint8_t N>
caoyuan9642 0:6cb2eaf8b133 16 class SerialGrayAbsEncoder: public GrayAbsEncoder<N>, SerialDigitalInput<N>
caoyuan9642 0:6cb2eaf8b133 17 {
caoyuan9642 0:6cb2eaf8b133 18 public:
caoyuan9642 0:6cb2eaf8b133 19 SerialGrayAbsEncoder(PinName clk, PinName load, PinName data,
caoyuan9642 0:6cb2eaf8b133 20 bool polarity = false) :
caoyuan9642 0:6cb2eaf8b133 21 GrayAbsEncoder<N>(), SerialDigitalInput<N>(clk, load, data), polarity(
caoyuan9642 0:6cb2eaf8b133 22 polarity)
caoyuan9642 0:6cb2eaf8b133 23 {
caoyuan9642 0:6cb2eaf8b133 24 }
caoyuan9642 0:6cb2eaf8b133 25 virtual ~SerialGrayAbsEncoder()
caoyuan9642 0:6cb2eaf8b133 26 {
caoyuan9642 0:6cb2eaf8b133 27 }
caoyuan9642 0:6cb2eaf8b133 28
caoyuan9642 0:6cb2eaf8b133 29 bool polarity; /*If polarity=false, the input will be bit-negated before converted to raw Binary*/
caoyuan9642 0:6cb2eaf8b133 30 uint32_t readPosGray()
caoyuan9642 0:6cb2eaf8b133 31 {
caoyuan9642 0:6cb2eaf8b133 32 uint32_t data = SerialDigitalInput<N>::read();
caoyuan9642 0:6cb2eaf8b133 33 return polarity ? (((1 << N) - 1) ^ data) : data;
caoyuan9642 0:6cb2eaf8b133 34 }
caoyuan9642 0:6cb2eaf8b133 35 };
caoyuan9642 0:6cb2eaf8b133 36
caoyuan9642 0:6cb2eaf8b133 37 #endif /* TELESCOPE_DRIVER_SERIALGRAYABSENCODER_H_ */
caoyuan9642 0:6cb2eaf8b133 38
caoyuan9642 0:6cb2eaf8b133 39