james hatch / Mbed 2 deprecated Encoder

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Dependencies:   mbed

Encoder.h@0:0a457148bccf, 2015-06-30 (annotated)

Committer:
jahatch
Date:
Tue Jun 30 23:41:08 2015 +0000
Revision:
0:0a457148bccf
Child:
2:6f9c364ebe40
!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jahatch 0:0a457148bccf 1 #ifndef ENCODER_H
jahatch 0:0a457148bccf 2 #define ENCODER_H
jahatch 0:0a457148bccf 3
jahatch 0:0a457148bccf 4 #include "mbed.h"
jahatch 0:0a457148bccf 5
jahatch 0:0a457148bccf 6 // Define BaseClass Encoder
jahatch 0:0a457148bccf 7
jahatch 0:0a457148bccf 8 class Encoder
jahatch 0:0a457148bccf 9 {
jahatch 0:0a457148bccf 10 public:
jahatch 0:0a457148bccf 11 // Constructor
jahatch 0:0a457148bccf 12 Encoder(PinName mosi, PinName miso, PinName sck, PinName ncs);
jahatch 0:0a457148bccf 13 float angle();
jahatch 0:0a457148bccf 14 bool parityFlag();
jahatch 0:0a457148bccf 15 bool encFlag();
jahatch 0:0a457148bccf 16 void init(float zero_ang);
jahatch 0:0a457148bccf 17 void flip();
jahatch 0:0a457148bccf 18 short int readRaw();
jahatch 0:0a457148bccf 19 // Functions
jahatch 0:0a457148bccf 20 private:
jahatch 0:0a457148bccf 21 SPI _spi;
jahatch 0:0a457148bccf 22 DigitalOut _cs;
jahatch 0:0a457148bccf 23 bool parity_calc(int x);
jahatch 0:0a457148bccf 24 int sign;
jahatch 0:0a457148bccf 25 int read();
jahatch 0:0a457148bccf 26 bool parity;
jahatch 0:0a457148bccf 27 bool enc_flag;
jahatch 0:0a457148bccf 28 //zero_ang for standing position
jahatch 0:0a457148bccf 29 float zero_ang;
jahatch 0:0a457148bccf 30 short int raw;
jahatch 0:0a457148bccf 31
jahatch 0:0a457148bccf 32
jahatch 0:0a457148bccf 33 // Variables
jahatch 0:0a457148bccf 34 const float enc2deg;
jahatch 0:0a457148bccf 35
jahatch 0:0a457148bccf 36 };
jahatch 0:0a457148bccf 37
jahatch 0:0a457148bccf 38 #endif
jahatch 0:0a457148bccf 39