Diff: QEI.h

Revision:

4:17d461de6a8f

Parent:

2:2a173fdae3ca

diff -r 0035b165ecc4 -r 17d461de6a8f QEI.h
--- a/QEI.h	Fri Aug 31 17:09:18 2018 +0000
+++ b/QEI.h	Fri Apr 19 23:03:41 2019 +0000
@@ -206,10 +206,16 @@
      *
      * @return Number of revolutions which have occured on the index channel.
      */
-    
+    float getRevolutions(void);
     
-    float getRevolutions(void);
-
+    /**
+     * Takes the difference of distance divided by the difference of time
+     */
+    float getVelocity();    
+   
+    /**
+     * Calculates the distance travelled using the diameter of the wheel and how many revolutions have happened
+     */
     float getDistance(float diameter);
 
 private:
@@ -236,13 +242,18 @@
     InterruptIn channelB_;
     InterruptIn index_;
 
-    float        pulsesPerRev_;
-    int          prevState_;
-    int          currState_;
-
-    volatile int pulses_;
-    volatile int revolutions_;
+    float        pulsesPerRev_;      // variable that keeps the pulses in each revolution
+    float        oldDistance_;       // variable that keeps distance initial for velocity calculation
+    float        newDistance_;       // variable that keeps distance final for velocity calculation
+    float        velocity_;          // variable with the current velocity
+    int          prevState_;         // variable to use in direction logic
+    int          currState_;         // variable to use in direction logic
+    
+    Timer ti;                        // pointer to timer library to keep track of time
+    
+    volatile int pulses_;            // keeps track of how many pulses have happened from initializing position
+    volatile int revolutions_;       // keeps track of how many revolutions have happened from initializing position
 
 };
 
-#endif /* QEI_H */
+#endif /* QEI_H */
\ No newline at end of file