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Dependencies: mbed ros_lib_melodic
encoder Class Reference
encoder Class More...
#include <encoder.h>
Inherited by MotorControl.
Public Types | |
| enum | Side |
Direction enumerator. More... | |
Public Member Functions | |
| encoder (PinName chanA, PinName chanB, int CPR, Side side, double Period, double diameter) | |
| Create an instance. | |
| double | getSpeed (void) |
| Get wheel speed. | |
| double | getDistance (void) |
| Get distance travelled. | |
| double | tempDist (void) |
| Get distance travelled. | |
| void | distRst (void) |
| Reset distance measurement. | |
| void | tempRst (void) |
| Reset distance measurement. | |
| void | start (void) |
| Start encoder reading. | |
| void | reset (void) |
| Stop encoder reading. | |
| int | getCurrentState (void) |
| Read the state of the encoder. | |
| int | getPulses (void) |
| Read the number of pulses recorded by the encoder. | |
Protected Member Functions | |
| void | sample_func (void) |
| sampling period and wheel constant | |
| double | getClicks (void) |
| Get wheel speed. | |
Protected Attributes | |
| double | period |
| ticker object to sample speed | |
Detailed Description
encoder Class
Class for measuring quadrature magnetic encoders requiring internal pullups
27/05/2021
Team 9 4th Year project
for NUCLEO-F401RE
- Version:
- 0.2
Definition at line 39 of file encoder.h.
Member Enumeration Documentation
Constructor & Destructor Documentation
Create an instance.
- Parameters:
-
chanA Encoder channel A pin chanB Encoder channel B pin CPR Encoder clicks per revolution 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) Period Sampling period of the wheel speed
- Note:
- Too short samling period gives a noisy reading, too long and dynamics are lost
- Parameters:
-
diameter Wheel diameter in meters
Definition at line 19 of file encoder.cpp.
Member Function Documentation
| void distRst | ( | void | ) |
Reset distance measurement.
Definition at line 183 of file encoder.cpp.
| double getClicks | ( | void | ) | [protected] |
| int getCurrentState | ( | void | ) |
Read the state of the encoder.
- Returns:
- The current state of the encoder as a 2-bit number, where: bit 1 = The reading from channel B bit 2 = The reading from channel A
Definition at line 59 of file encoder.cpp.
| double getDistance | ( | void | ) |
Get distance travelled.
- Returns:
- Distance travelled in meters
Definition at line 165 of file encoder.cpp.
| int getPulses | ( | void | ) |
Read the number of pulses recorded by the encoder.
- Returns:
- Number of pulses which have occured.
Definition at line 65 of file encoder.cpp.
| double getSpeed | ( | void | ) |
| void reset | ( | void | ) |
Stop encoder reading.
Definition at line 55 of file encoder.cpp.
| void sample_func | ( | void | ) | [protected] |
sampling period and wheel constant
Sample function called by ticker object
Definition at line 141 of file encoder.cpp.
| void start | ( | void | ) |
Start encoder reading.
Definition at line 197 of file encoder.cpp.
| double tempDist | ( | void | ) |
Get distance travelled.
- Returns:
- Distance travelled in meters since last reset
Definition at line 174 of file encoder.cpp.
| void tempRst | ( | void | ) |
Reset distance measurement.
Definition at line 195 of file encoder.cpp.
Field Documentation
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