This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Sensors/Encoders/Encoder.h
- Committer:
- madcowswe
- Date:
- 2013-04-17
- Revision:
- 90:e4164bb8c60e
- Parent:
- 20:70d651156779
File content as of revision 90:e4164bb8c60e:
#ifndef ENCODER_H #define ENCODER_H #include "QEI.h" #include "mbed.h" #include "globals.h" class Encoder{ private: DigitalIn green, yellow; QEI wheel; public: Encoder(PinName pGreen, PinName pYellow) : green(pGreen) , yellow(pYellow) , wheel(pGreen,pYellow, NC, 0, QEI::X4_ENCODING) { green.mode(PullUp); yellow.mode(PullUp); } int getTicks(void){ return wheel.getPulses(); } void reset (void){ return wheel.reset(); } }; #ifdef ENABLE_GLOBAL_ENCODERS extern Encoder right_encoder; extern Encoder left_encoder; #endif #endif //ENCODER_H