Lakshmanan Gopalakrishnan
Prototype program for balancing robot based on various examples from other users.
Dependencies: HCSR04 MPU6050_1 Motor Servo ledControl2 mbed
HALLFX_ENCODER.cpp@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 | #include "HALLFX_ENCODER.h" |
| lakshmananag | 0:cfae0986065f | 2 | |
| lakshmananag | 0:cfae0986065f | 3 | HALLFX_ENCODER::HALLFX_ENCODER(PinName enc_in): _enc_in(enc_in){ |
| lakshmananag | 0:cfae0986065f | 4 | _enc_in.mode(PullUp); |
| lakshmananag | 0:cfae0986065f | 5 | // Invoke interrupt on both falling and rising edges |
| lakshmananag | 0:cfae0986065f | 6 | _enc_in.fall(this, &HALLFX_ENCODER::callback); |
| lakshmananag | 0:cfae0986065f | 7 | _enc_in.rise(this, &HALLFX_ENCODER::callback); |
| lakshmananag | 0:cfae0986065f | 8 | } |
| lakshmananag | 0:cfae0986065f | 9 | |
| lakshmananag | 0:cfae0986065f | 10 | long HALLFX_ENCODER::read(){ |
| lakshmananag | 0:cfae0986065f | 11 | return count; |
| lakshmananag | 0:cfae0986065f | 12 | } |
| lakshmananag | 0:cfae0986065f | 13 | |
| lakshmananag | 0:cfae0986065f | 14 | void HALLFX_ENCODER::reset(){ |
| lakshmananag | 0:cfae0986065f | 15 | count = 0; |
| lakshmananag | 0:cfae0986065f | 16 | } |
| lakshmananag | 0:cfae0986065f | 17 | |
| lakshmananag | 0:cfae0986065f | 18 | void HALLFX_ENCODER::callback(){ |
| lakshmananag | 0:cfae0986065f | 19 | count++; |
| lakshmananag | 0:cfae0986065f | 20 | } |