File content as of revision 1:9e7d6d72e352:

#include "Rotaryencoder.hpp"

Rotary::Rotary(PinName pinA, PinName pinB, double diameter, double resolusion, double deltat) :
    cir(diameter * pi), res(4 * resolusion), dt(deltat){
    pulse[0] = 0; pulse[1] = 0;
    theta[0] = 0; theta[1] = 0;
    spd = 0;
    anguspd = 0;
    pin_A = new InterruptIn(pinA, PullUp);
    pin_B = new InterruptIn(pinB, PullUp);
    pin_A -> rise(callback(this, &Rotary::riseA));
    pin_A -> fall(callback(this, &Rotary::fallA));
    pin_B -> rise(callback(this, &Rotary::riseB));
    pin_B -> fall(callback(this, &Rotary::fallB));
}

void Rotary::reset(){
    pulse[1] = 0;
}

double Rotary::pulse_get(){return pulse[1]/4;}

double Rotary::theta_get(){
    theta[1] = 360 * pulse[1]/res;
    return theta[1];
}
 
double Rotary::speed_get(){
    spd = cir * ((pulse[1] - pulse[0])/res) / dt;
    pulse[0] = pulse[1];
    return spd;
}

double Rotary::angularspd_get(){
    anguspd = (theta[1] - theta[0])/dt;
    theta[0] = theta[1];
    return anguspd;
}

void Rotary::riseA(){pin_B -> read() ? pulse[1]-- : pulse[1]++;}

void Rotary::fallA(){pin_B -> read() ? pulse[1]++ : pulse[1]--;}

void Rotary::riseB(){pin_A -> read() ? pulse[1]++ : pulse[1]--;}

void Rotary::fallB(){pin_A -> read() ? pulse[1]-- : pulse[1]++;}

Rotary::~Rotary(){
    pin_A -> disable_irq();
    pin_B -> disable_irq();
    delete pin_A;
    delete pin_B;
}