Diff: src/encoder.h

Revision:

6:ed47deb76adf

Parent:

5:44b2454a5eea

--- a/src/encoder.h	Tue Jun 08 15:04:33 2021 +0000
+++ b/src/encoder.h	Tue Jun 08 20:55:08 2021 +0000
@@ -22,12 +22,10 @@
 
 /** encoder Class
  *
- * Class for measeuring quadrature magnetic encoders requiring internal pullups
+ * Class for measuring quadrature magnetic encoders requiring internal pullups
  *
  * @author Simon Krogedal
  *
- * Written by Simon Krogedal
- *
  * 27/05/2021
  *
  * Team 9 4th Year project
@@ -40,56 +38,26 @@
  */
 class encoder {
     
-    private:
-        int         tot_clicks, temp_tot;   // clicks since last distance reset
-        double      click_rate, click_store;// clickrate
-        bool        c_d;                    // left or right bool
-        
-        /**
-         * Update the pulse count.
-         *
-         * Called on every rising/falling edge of channels A/B.
-         *
-         * Reads the state of the channels and determines whether a pulse forward
-         * or backward has occured, updating the count appropriately.
-         */
-        void encode(void);
-    
-        InterruptIn channelA_;
-        InterruptIn channelB_;
+    public:
     
-        int          pulsesPerRev_;
-        int          prevState_;
-        int          currState_;
-    
-        volatile int pulses_;
-
-    protected:
-    
-        Ticker      sampler;                /// ticker object to sample speed
-        double      period, enc_const;      /// sampling period and wheel constant
-        
-        /// Sample function called by ticker object
-        void sample_func(void);
-        
-        /** Get wheel speed
-         * @returns Wheel speed in clicks/second
+        /** Direction enumerator
          */
-        double getClicks(void);             /// returns clickrate
-        
-    public:
+        typedef enum  {
+            Left,         // Left side motor, CCW rotation is forward
+            Right         // Right side motor, CW rotation is forward
+        } Side;
     
         /** Create an instance
          *
          * @param chanA Encoder channel A pin
          * @param chanB Encoder channel B pin
          * @param CPR Encoder clicks per revolution
-         * @param c Boolean flag to invert speeds, used to correct for left and right motors
-         * @param p Sampling period of the wheel speed
+         * @param side Left side or right side motor, defines whether counter-clockwise rotation is forwards (left) or backwards (right) (when looking at the robot from outside)
+         * @param Period Sampling period of the wheel speed
          * @note Too short samling period gives a noisy reading, too long and dynamics are lost
-         * @param diameter Wheel diameter
+         * @param diameter Wheel diameter in meters
          */
-        encoder(PinName chanA, PinName chanB, int CPR, bool c, double p, double diameter);
+        encoder(PinName chanA, PinName chanB, int CPR, Side side, double Period, double diameter);
         
         /** Get wheel speed
          * @returns Wheel speed in meters/second
@@ -134,6 +102,45 @@
          */
         int getPulses(void);
     
+    private:
+        int         tot_clicks, temp_tot;   // clicks since last distance reset
+        double      click_rate, click_store;// clickrate
+        bool        c_d;                    // left or right bool
+        
+        /**
+         * Update the pulse count.
+         *
+         * Called on every rising/falling edge of channels A/B.
+         *
+         * Reads the state of the channels and determines whether a pulse forward
+         * or backward has occured, updating the count appropriately.
+         */
+        void encode(void);
+    
+        InterruptIn channelA_;
+        InterruptIn channelB_;
+    
+        int          pulsesPerRev_;
+        int          prevState_;
+        int          currState_;
+    
+        volatile int pulses_;
+        
+        Side         side_;
+
+    protected:
+    
+        Ticker      sampler;                /// ticker object to sample speed
+        double      period, enc_const;      /// sampling period and wheel constant
+        
+        /// Sample function called by ticker object
+        void sample_func(void);
+        
+        /** Get wheel speed
+         * @returns Wheel speed in clicks/second
+         */
+        double getClicks(void);
+    
 };
 
 #endif
\ No newline at end of file