Lakshmanan Gopalakrishnan / Mbed 2 deprecated Balancing_Robot_1

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?

UserRevisionLine numberNew 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