jiexuan fan / ServoController_2

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Dependencies:   QEI mbed-src

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Show/hide line numbers Encoder.cpp Source File

Encoder.cpp

00001 #include "Encoder.h"
00002 
00003 //Encoder steps to revolutions of output shaft in radians
00004 float pulsesToRadians(float pulses) {
00005     return ((pulses/ENC_STEPS_PER_REV)*(2.0*PI));
00006 }
00007 
00008 //Encoder steps to revolutions of output shaft in degrees
00009 float pulsesToDegrees(float pulses) {
00010     return ((pulses/ENC_STEPS_PER_REV)*360.0);
00011 }
00012 
00013 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) {
00014     //Use X4 encoding.
00015     //(encoder channel 1, encoder channel 2, index (n/a here), counts per revolution, mode (X4, X2))
00016     //QEI ;
00017 }
00018 
00019 float Encoder::get_position(void) {
00020     return pulsesToRadians(qei_.getPulses());
00021 }
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