Prototype program for balancing robot based on various examples from other users.
Dependencies: HCSR04 MPU6050_1 Motor Servo ledControl2 mbed
Diff: HALLFX_ENCODER.cpp
- Revision:
- 0:cfae0986065f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HALLFX_ENCODER.cpp Fri Aug 26 07:11:47 2016 +0000 @@ -0,0 +1,20 @@ +#include "HALLFX_ENCODER.h" + +HALLFX_ENCODER::HALLFX_ENCODER(PinName enc_in): _enc_in(enc_in){ + _enc_in.mode(PullUp); + // Invoke interrupt on both falling and rising edges + _enc_in.fall(this, &HALLFX_ENCODER::callback); + _enc_in.rise(this, &HALLFX_ENCODER::callback); +} + +long HALLFX_ENCODER::read(){ + return count; +} + +void HALLFX_ENCODER::reset(){ + count = 0; +} + +void HALLFX_ENCODER::callback(){ + count++; +} \ No newline at end of file