Diff: PolledQEI.h

Revision:

0:7c16b1d2f01e

Child:

1:72e6e124a7e6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PolledQEI.h	Tue Aug 30 19:52:34 2011 +0000
@@ -0,0 +1,74 @@
+#ifndef _POLLED_QEI_H
+#define _POLLED_QEI_H
+
+#define CW   0
+#define CCW  1
+
+
+class PolledQEI  {
+public:
+
+
+
+    PolledQEI() {
+        error("Constructor need 2 parameters");
+    };
+
+    /** PolledQEI constructor
+     *
+     * @param PinName PhaseA and  PinName PhaseB
+     * are a valid pin that supports DigitalIn
+     */
+    PolledQEI(PinName a, PinName b) {
+        init( a, b, NC );
+    }
+
+    /** PolledQEI constructor
+     *
+     * @param PinName PhaseA and  PinName PhaseB and  PinName PhaseZ
+     * are a valid pin that supports DigitalIn
+     */
+    PolledQEI(PinName a, PinName b, PinName z) {
+        init( a, b, z );
+    }
+
+    /** PolledQEI destructor
+     */
+    ~PolledQEI() {
+        if ( _ticker )  delete( _ticker );
+        if ( _phaseA )  delete( _phaseA );
+        if ( _phaseB )  delete( _phaseB );
+        if ( _phaseZ )  delete( _phaseZ );
+    }
+
+    /** Set the sampling time in microseconds.
+     *
+     * @param int The time between pin samples in microseconds.
+     */
+    void setSampleFrequency(int i);
+    int pos(void);
+    int dir(void);
+    int rev(void);
+    
+    
+private:
+
+
+protected:
+    DigitalIn       *_phaseA;
+    DigitalIn       *_phaseB;
+    InterruptIn     *_phaseZ;
+    Ticker          *_ticker;
+    int             _sample_uSec;
+    unsigned int    _actEncPos;
+    unsigned int    _actEncRev;
+    int             _dir;
+    unsigned int    last;
+
+    void init(PinName a, PinName b, PinName z);
+    void check (void);
+    void countRev(void);
+
+};
+
+#endif
\ No newline at end of file