Diff: QEI.cpp

Revision:

3:66f6b5f3a911

Parent:

1:51cd1936ffec

Child:

4:bfe9aec45bb7

--- a/QEI.cpp	Sat Aug 17 14:55:49 2019 +0200
+++ b/QEI.cpp	Sat Aug 17 21:30:45 2019 +0200
@@ -128,10 +128,10 @@
  */
 #include "QEI.h"
 
-QEI::QEI(PinName channelA,
+QEI::QEI(int pulsesPerRev,
+         PinName channelA,
          PinName channelB,
          PinName index,
-         int pulsesPerRev,
          Encoding encoding) : channelA_(channelA), channelB_(channelB),
         index_(index) {
 
@@ -141,21 +141,17 @@
     encoding_     = encoding;
     
     channelA_.mode(PullUp);
-    channelB_.mode(PullUp);
 
     //Workout what the current state is.
-    int chanA = channelA_.read();
-    int chanB = channelB_.read();
-
-    //2-bit state.
-    currState_ = (chanA << 1) | (chanB);
-    prevState_ = currState_;
+    currState_ = channelA_.read();
+    
+    
 
     //X2 encoding uses interrupts on only channel A.
     //X4 encoding uses interrupts on      channel A,
     //and on channel B.
-    channelA_.rise(this, &QEI::encode);
-    channelA_.fall(this, &QEI::encode);
+    channelA_.rise(this, &QEI::pulse);
+   // channelA_.fall(this, &QEI::pulse);
 
     //If we're using X4 encoding, then attach interrupts to channel B too.
     if (encoding == X4_ENCODING) {
@@ -178,7 +174,7 @@
 
 int QEI::getCurrentState(void) {
 
-    return currState_;
+    return channelA_.read();;
 
 }
 
@@ -194,6 +190,12 @@
 
 }
 
+void QEI::pulse() {
+
+    pulses_++;
+
+}
+
 // +-------------+
 // | X2 Encoding |
 // +-------------+