Dependents: nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more
encoder.cpp
- Committer:
- kenken0721
- Date:
- 2018-03-22
- Revision:
- 0:0d6f91c4a794
File content as of revision 0:0d6f91c4a794:
#include "encoder.h" #include "mbed.h" Encoder::Encoder(PinName APin, PinName BPin, PinName ZPin) : A(APin) , B(BPin) , Z(ZPin){ A.rise(this,&Encoder::flag); init(); } void Encoder::init(void){ count = 0; zcount = 0; } void Encoder::flag(void){ if(B == true){ count++; if(Z == true){ zcount++; } }else{ count--; if(Z == true){ zcount--; } } } float Encoder::read_rotate(){ return (float)(count / 300.0); } int Encoder::read_z(){ return zcount; }