File content as of revision 3:f285adb565b1:

#ifndef QEI_H
#define QEI_H


#include "mbed.h"


#define PREV_MASK 0x1 //Mask for the previous state in determining direction
//of rotation.
#define CURR_MASK 0x2 //Mask for the current state in determining direction
//of rotation.
#define INVALID   0x3 //XORing two states where both bits have changed.

class QEI
{
protected :
    PinName Pin[3];    
    QEI(const QEI& q);
    QEI& operator=(const QEI &q) {
        return *this;
    }
public:

    typedef enum Encoding {

        X2_ENCODING,
        X4_ENCODING

    } Encoding;


    QEI(PinName channelA, PinName channelB, PinName index, int pulsesPerRev,Timer *T, Encoding encoding = X2_ENCODING);

    void qei_reset(void);

    int getCurrentState(void);


    void set(int pul , int rev);

    int getPulses(void);

    int getRevolutions(void);

    int getAng_rev();

    double getAngle();
    double getSumangle();
    double getRPM();
    double getRPS();
    double getRPMS();
    double getRPUS();
    int          pulsesPerRev_;
    void state(int i);
private:
    Timer *timer;
    Ticker Tick;
    double RPM , RPS ,RPMS , RPUS;
    float gettime() {
        timer->start();
        static float prev_time;
        float a = timer->read()-prev_time;
        prev_time=a;
        return a;
    }

    void encode(void);

    void index(void);

    Encoding encoding_;

    InterruptIn channelA_;
    InterruptIn channelB_;
    InterruptIn index_;
    int          round_rev;

    int          prevState_;
    int          currState_;
    double angle_ , sumangle;
    int angle_pulses;
    volatile int pulses_;
    volatile int revolutions_;

};

#endif