Lakshmanan Gopalakrishnan / Mbed 2 deprecated Balancing_Robot_2

First trial

Dependencies:   MPU6050 Motor ledControl2 mbed

Fork of BalancingRobotPS3 by Kristian Lauszus

HALLFX_ENCODER.h@10:8050817ae610, 2016-08-25 (annotated)

Committer:
lakshmananag
Date:
Thu Aug 25 22:55:36 2016 +0000
Revision:
10:8050817ae610
Parent:
9:67f2110fce8e 
First trial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lakshmananag 9:67f2110fce8e 1 #ifndef HALLFX_ENCODER_H
lakshmananag 9:67f2110fce8e 2 #define HALLFX_ENCODER_H
lakshmananag 9:67f2110fce8e 3
lakshmananag 9:67f2110fce8e 4 /*
lakshmananag 9:67f2110fce8e 5 Basic Encoder Library for Sparkfun's Wheel Encoder Kit
lakshmananag 9:67f2110fce8e 6 Part# ROB-12629.
lakshmananag 9:67f2110fce8e 7 */
lakshmananag 9:67f2110fce8e 8
lakshmananag 9:67f2110fce8e 9 #include "mbed.h"
lakshmananag 9:67f2110fce8e 10
lakshmananag 9:67f2110fce8e 11 class HALLFX_ENCODER{
lakshmananag 9:67f2110fce8e 12 public:
lakshmananag 9:67f2110fce8e 13 /*
lakshmananag 9:67f2110fce8e 14 Constructor for Encoder objects
lakshmananag 9:67f2110fce8e 15 @param enc_in The mBed pin connected to encoder output
lakshmananag 9:67f2110fce8e 16 */
lakshmananag 9:67f2110fce8e 17 HALLFX_ENCODER(PinName enc_in);
lakshmananag 9:67f2110fce8e 18 /*
lakshmananag 9:67f2110fce8e 19 read() returns total number of counts of the encoder.
lakshmananag 9:67f2110fce8e 20 Count can be +/- and indicates the overall direction,
lakshmananag 9:67f2110fce8e 21 (+): CW (-): CCW
lakshmananag 9:67f2110fce8e 22 @return The toltal number of counts of the encoder.
lakshmananag 9:67f2110fce8e 23 */
lakshmananag 9:67f2110fce8e 24 long read();
lakshmananag 9:67f2110fce8e 25 /*
lakshmananag 9:67f2110fce8e 26 reset() clears the counter to 0.
lakshmananag 9:67f2110fce8e 27 */
lakshmananag 9:67f2110fce8e 28 void reset();
lakshmananag 9:67f2110fce8e 29 private:
lakshmananag 9:67f2110fce8e 30 long count; // Total number of counts since start.
lakshmananag 9:67f2110fce8e 31 InterruptIn _enc_in;// Encoder Input/Interrupt Pin
lakshmananag 9:67f2110fce8e 32 /*
lakshmananag 9:67f2110fce8e 33 Increments/Decrements count on interrrupt.
lakshmananag 9:67f2110fce8e 34 */
lakshmananag 9:67f2110fce8e 35 void callback(); // Interrupt callback function
lakshmananag 9:67f2110fce8e 36 };
lakshmananag 9:67f2110fce8e 37
lakshmananag 9:67f2110fce8e 38 #endif