Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

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Dependencies:   mbed Eigen

Diff: shared/QEI/QEI.cpp

Revision:
0:ee7e9405e1c7
diff -r 000000000000 -r ee7e9405e1c7 shared/QEI/QEI.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/QEI/QEI.cpp	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,29 @@
+#include "QEI.h"
+
+QEI::QEI(int edge_per_revolution)
+	:_edge_per_revolution(edge_per_revolution)
+{}
+
+int QEI::read()
+{
+	return _read();
+}
+
+void QEI::write(int32_t count)
+{
+	_write(count);
+}
+
+void QEI::reset()
+{
+	_write(0);
+}
+
+double QEI::get_ang()
+{
+	return ((double)read() / (double)_edge_per_revolution) * (2 * M_PI); //[rad]
+}
+
+double QEI::get_ang_vel(){
+	return (_get_pps() / (double)_edge_per_revolution) * (2 * M_PI); //[rad/s]
+}
\ No newline at end of file