Prototype program for balancing robot based on various examples from other users.
Dependencies: HCSR04 MPU6050_1 Motor Servo ledControl2 mbed
HALLFX_ENCODER.h@0:cfae0986065f, 2016-08-26 (annotated)
- Committer:
- lakshmananag
- Date:
- Fri Aug 26 07:11:47 2016 +0000
- Revision:
- 0:cfae0986065f
Prototype program for balancing robot.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lakshmananag | 0:cfae0986065f | 1 | #ifndef HALLFX_ENCODER_H |
lakshmananag | 0:cfae0986065f | 2 | #define HALLFX_ENCODER_H |
lakshmananag | 0:cfae0986065f | 3 | |
lakshmananag | 0:cfae0986065f | 4 | /* |
lakshmananag | 0:cfae0986065f | 5 | Basic Encoder Library for Sparkfun's Wheel Encoder Kit |
lakshmananag | 0:cfae0986065f | 6 | Part# ROB-12629. |
lakshmananag | 0:cfae0986065f | 7 | */ |
lakshmananag | 0:cfae0986065f | 8 | |
lakshmananag | 0:cfae0986065f | 9 | #include "mbed.h" |
lakshmananag | 0:cfae0986065f | 10 | |
lakshmananag | 0:cfae0986065f | 11 | class HALLFX_ENCODER{ |
lakshmananag | 0:cfae0986065f | 12 | public: |
lakshmananag | 0:cfae0986065f | 13 | /* |
lakshmananag | 0:cfae0986065f | 14 | Constructor for Encoder objects |
lakshmananag | 0:cfae0986065f | 15 | @param enc_in The mBed pin connected to encoder output |
lakshmananag | 0:cfae0986065f | 16 | */ |
lakshmananag | 0:cfae0986065f | 17 | HALLFX_ENCODER(PinName enc_in); |
lakshmananag | 0:cfae0986065f | 18 | /* |
lakshmananag | 0:cfae0986065f | 19 | read() returns total number of counts of the encoder. |
lakshmananag | 0:cfae0986065f | 20 | Count can be +/- and indicates the overall direction, |
lakshmananag | 0:cfae0986065f | 21 | (+): CW (-): CCW |
lakshmananag | 0:cfae0986065f | 22 | @return The toltal number of counts of the encoder. |
lakshmananag | 0:cfae0986065f | 23 | */ |
lakshmananag | 0:cfae0986065f | 24 | long read(); |
lakshmananag | 0:cfae0986065f | 25 | /* |
lakshmananag | 0:cfae0986065f | 26 | reset() clears the counter to 0. |
lakshmananag | 0:cfae0986065f | 27 | */ |
lakshmananag | 0:cfae0986065f | 28 | void reset(); |
lakshmananag | 0:cfae0986065f | 29 | private: |
lakshmananag | 0:cfae0986065f | 30 | long count; // Total number of counts since start. |
lakshmananag | 0:cfae0986065f | 31 | InterruptIn _enc_in;// Encoder Input/Interrupt Pin |
lakshmananag | 0:cfae0986065f | 32 | /* |
lakshmananag | 0:cfae0986065f | 33 | Increments/Decrements count on interrrupt. |
lakshmananag | 0:cfae0986065f | 34 | */ |
lakshmananag | 0:cfae0986065f | 35 | void callback(); // Interrupt callback function |
lakshmananag | 0:cfae0986065f | 36 | }; |
lakshmananag | 0:cfae0986065f | 37 | |
lakshmananag | 0:cfae0986065f | 38 | #endif |