df

Dependencies:   mbed

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers Encoder.h Source File

Encoder.h

00001 #ifndef ENCODER_H
00002 #define ENCODER_H
00003 
00004 #include "mbed.h"
00005 
00006 // Define BaseClass Encoder
00007 
00008 class Encoder
00009 {
00010 public:
00011     // Constructor
00012     Encoder(PinName mosi, PinName miso, PinName sck, PinName ncs);
00013     float angle();
00014     bool parityFlag();
00015     bool encFlag();
00016     void init(float zero_ang);
00017     void flip();
00018     short int readRaw();
00019     // Functions
00020 
00021 private:
00022     SPI _spi;
00023     DigitalOut _cs;
00024     bool parity_calc(int x);
00025     int sign;
00026     int read(); 
00027     bool parity;
00028     bool enc_flag;
00029     //zero_ang for standing position
00030     float zero_ang;
00031     short int raw;
00032 
00033 
00034     // Variables
00035     const float enc2deg;
00036 
00037 };
00038 
00039 #endif
00040