fujimoto keita / libraries

For Rotaryencoder and Motor

Dependencies:   arrc_mbed

Dependents:  

Rotaryencoder.hpp

Committer:
m2130
Date:
2022-07-16
Revision:
0:b1487fd792c9

File content as of revision 0:b1487fd792c9:

#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