Diff: encoder.cpp

Revision:

7:4e196221f015

Parent:

6:18b000b443af

--- a/encoder.cpp	Mon Sep 29 20:47:37 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,79 +0,0 @@
-
-#include "encoder.h"
-
-
-Encoder::Encoder(PinName int_a, PinName int_b, bool speed) : pin_a(int_a), pin_b(int_b)
-{
-    m_speed_enabled = speed;
-    if(m_speed_enabled)
-        EncoderTimer.start();
-    pin_a.fall(this,&Encoder::encoderFalling);
-    pin_a.rise(this,&Encoder::encoderRising);
-    m_position = 0;
-    m_speed = 0;
-    zero_speed = false;
-}
- 
-void Encoder::encoderFalling(void)
-{
-    //temporary speed storage, in case higher interrupt level does stuff
-    float temp_speed=0;
-    int motortime_now;
-    if(m_speed_enabled)
-    {
-        motortime_now = EncoderTimer.read_us();
-        EncoderTimer.reset();
-        EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
-        /*calculate as ticks per second*/
-        if(zero_speed)
-            temp_speed  = 0;
-        else
-            temp_speed = 1000000./motortime_now;
-        zero_speed = false;
-    }
-    if(pin_b)
-    {
-        m_position++;
-        m_speed = temp_speed;
-    }
-    else
-    {
-        m_position--;    
-        m_speed  = -temp_speed; //negative speed
-    }
-}
-
-void Encoder::encoderRising(void)
-{
-    //temporary speed storage, in case higher interrupt level does stuff
-
-    float temp_speed=0;
-    int motortime_now;
-    if(m_speed_enabled)
-    {
-        EncoderTimer.reset();
-        EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
-        /*calculate as ticks per second*/
-        if(zero_speed)
-            temp_speed  = 0;
-        else
-            temp_speed = 1000000./motortime_now;
-        zero_speed = false;
-    }
-    if(pin_b)
-    {
-        m_position--;
-        m_speed = -temp_speed; //negative speed
-    }
-    else
-    {
-        m_position++;    
-        m_speed  = temp_speed; 
-    }
-}
-
-void Encoder::timeouthandler(void)
-{
-    m_speed  = 0;
-    zero_speed = true;
-}
\ No newline at end of file