james hatch
df
Diff: Encoder.h
- Revision:
- 0:0a457148bccf
- Child:
- 2:6f9c364ebe40
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.h Tue Jun 30 23:41:08 2015 +0000
@@ -0,0 +1,39 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include "mbed.h"
+
+// Define BaseClass Encoder
+
+class Encoder
+{
+public:
+ // Constructor
+ Encoder(PinName mosi, PinName miso, PinName sck, PinName ncs);
+ float angle();
+ bool parityFlag();
+ bool encFlag();
+ void init(float zero_ang);
+ void flip();
+ short int readRaw();
+ // Functions
+private:
+ SPI _spi;
+ DigitalOut _cs;
+ bool parity_calc(int x);
+ int sign;
+ int read();
+ bool parity;
+ bool enc_flag;
+ //zero_ang for standing position
+ float zero_ang;
+ short int raw;
+
+
+ // Variables
+ const float enc2deg;
+
+};
+
+#endif
+