lupo manes
Basic library to interface a 2 channel quadrature encoder with mBed
Diff: QuadratureEncoder.cpp
- Revision:
- 0:8e8c33a797a9
- Child:
- 1:42d1e211e624
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QuadratureEncoder.cpp Tue Jul 18 16:06:21 2017 +0000
@@ -0,0 +1,31 @@
+#include "QuadratureEncoder.h"
+
+QuadratureEncoder::QuadratureEncoder(PinName pinA, PinName pinB): _channelA(pinA), _channelB(pinB)
+{
+ _ticks = 0;
+ _channelB.rise(this, &QuadratureEncoder::_Brising);
+ _channelB.fall(this, &QuadratureEncoder::_Bfalling);
+}
+
+int QuadratureEncoder::getTicks()
+{
+ return _ticks;
+}
+
+void QuadratureEncoder::_Brising()
+{
+ if (_channelA.read()) {
+ _ticks--;
+ } else {
+ _ticks++;
+ }
+}
+
+void QuadratureEncoder::_Bfalling()
+{
+ if (_channelA.read()) {
+ _ticks++;
+ } else {
+ _ticks--;
+ }
+}
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