Diff: Encoder.cpp

Revision:

4:5ae9f8b3a16f

diff -r cae0b305d54c -r 5ae9f8b3a16f Encoder.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.cpp	Tue Nov 24 03:56:22 2015 +0000
@@ -0,0 +1,21 @@
+#include "Encoder.h"
+
+//Encoder steps to revolutions of output shaft in radians
+float pulsesToRadians(float pulses) {
+    return ((pulses/ENC_STEPS_PER_REV)*(2.0*PI));
+}
+
+//Encoder steps to revolutions of output shaft in degrees
+float pulsesToDegrees(float pulses) {
+    return ((pulses/ENC_STEPS_PER_REV)*360.0);
+}
+
+Encoder::Encoder(PinName enc_a_pin, PinName enc_b_pin): qei_(enc_a_pin, enc_b_pin, NC, ENC_STEPS_PER_REV, QEI::X4_ENCODING) {
+    //Use X4 encoding.
+    //(encoder channel 1, encoder channel 2, index (n/a here), counts per revolution, mode (X4, X2))
+    //QEI ;
+}
+
+float Encoder::get_position(void) {
+    return pulsesToRadians(qei_.getPulses());
+}