AVEncoder.h

00001 /**
00002  * @author Aravind Vadali
00003  *
00004  * @section LICENSE
00005  *
00006  * Copyright (c) 2015
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  *
00026  * @section DESCRIPTION
00027  * Because the QEI library is buggy as !@#$
00028  * Instead of even trying to determine direction, this will just give number of 
00029  * pulses. A more fleshed out solution where direction is taken into account can 
00030  * be worked out later.
00031  **/
00032  
00033 #ifndef QEI_H
00034 #define QEI_H
00035 
00036 /**
00037  * Includes
00038  */
00039 #include "mbed.h"
00040 
00041 class AVEncoder {
00042     
00043 public:
00044     AVEncoder (PinName channelA, PinName channelB);
00045     long int getPulses();
00046     void reset();
00047 private:
00048     long int m_pulses;
00049     InterruptIn chanA;
00050     InterruptIn chanB;
00051     void incrementCount();
00052 };
00053 
00054 
00055 #endif /* QEI_H */