For Rotaryencoder and Motor
Rotaryencoder.hpp
- Committer:
- m2130
- Date:
- 22 months ago
- Revision:
- 1:9e7d6d72e352
- Parent:
- 0:b1487fd792c9
File content as of revision 1:9e7d6d72e352:
#ifndef Rorikon_H #define Rorikon_H #include "mbed.h" #define pi 3.1415926535897932384626 class Rotary{ public: Rotary(PinName pinA, PinName pinB, double diameter, double resolusion, double deltat); double pulse_get(); double theta_get(); double speed_get(); double angularspd_get(); void reset(); ~Rotary(); private: InterruptIn *pin_A; InterruptIn *pin_B; double pulse[2]; double theta[2]; double cir; double res; double dt; double spd; double anguspd; void riseA(void); void fallA(void); void riseB(void); void fallB(void); }; #endif