Diff: EW305sbc.cpp

Revision:

2:6cf351721d86

Parent:

1:b33d4964669b

Child:

4:19ee7eb16605

--- a/EW305sbc.cpp	Fri Aug 16 19:05:24 2019 +0000
+++ b/EW305sbc.cpp	Mon Sep 16 23:34:45 2019 +0000
@@ -14,11 +14,12 @@
     speed_ = 0.0; // initial distance
     countp_ = 0;
     count_ = 0;
+    angle_ = 0.0;
     /** configure the rising edge to start the timer */
     updater.attach(callback(this, &EW305sbc::recalc), 0.00625); // 125 Hz, syntax from https://os.mbed.com/forum/mbed/topic/1964/?page=1
     wait(.2);   //delay at beginning for voltage settle purposes
 
-    // initialize channel 1 encoder by 
+    // initialize channel ch_ encoder by 
     LS7366_reset_counter(ch_);
     LS7366_quad_mode_x4(ch_);
     LS7366_write_DTR(ch_,0);
@@ -29,7 +30,10 @@
 {
     // Read encoder
     count_ = LS7366_read_counter(ch_); // input is the encoder channel
-
+    
+    // convert count to angle
+    angle_ = count_*2.0*3.14159/(4.0*pulsesPerRev_);
+    
     // Estimate speed (counts/sec)
     speed_ = -(count_-countp_)/0.00625*2.0*3.14159/(4.0*pulsesPerRev_);
 
@@ -48,9 +52,10 @@
     return speed_;
 }
 
-
-
-
+float EW305sbc::getAngle(void)
+{
+    return angle_;
+}
 
 
 //---- Function Listing -------------------------------