Publishing for Michael McKinley to calibrate.
Fork of Encoders by
Encoder.h@0:1d2644a20b71, 2014-11-24 (annotated)
- Committer:
- perr1940
- Date:
- Mon Nov 24 03:33:29 2014 +0000
- Revision:
- 0:1d2644a20b71
- Child:
- 1:2e39be3d2088
Encoders stuff!!! going to Italy;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
perr1940 | 0:1d2644a20b71 | 1 | #ifndef ENCODER_H |
perr1940 | 0:1d2644a20b71 | 2 | #define ENCODER_H |
perr1940 | 0:1d2644a20b71 | 3 | |
perr1940 | 0:1d2644a20b71 | 4 | #include "mbed.h" |
perr1940 | 0:1d2644a20b71 | 5 | |
perr1940 | 0:1d2644a20b71 | 6 | // Define BaseClass Encoder |
perr1940 | 0:1d2644a20b71 | 7 | |
perr1940 | 0:1d2644a20b71 | 8 | class Encoder |
perr1940 | 0:1d2644a20b71 | 9 | { |
perr1940 | 0:1d2644a20b71 | 10 | public: |
perr1940 | 0:1d2644a20b71 | 11 | // Constructor |
perr1940 | 0:1d2644a20b71 | 12 | Encoder(PinName mosi, PinName miso, PinName sck, PinName ncs); |
perr1940 | 0:1d2644a20b71 | 13 | float angle(); |
perr1940 | 0:1d2644a20b71 | 14 | bool parityFlag(); |
perr1940 | 0:1d2644a20b71 | 15 | bool encFlag(); |
perr1940 | 0:1d2644a20b71 | 16 | void init(float zero_ang); |
perr1940 | 0:1d2644a20b71 | 17 | void flip(); |
perr1940 | 0:1d2644a20b71 | 18 | short int readRaw(); |
perr1940 | 0:1d2644a20b71 | 19 | // Functions |
perr1940 | 0:1d2644a20b71 | 20 | private: |
perr1940 | 0:1d2644a20b71 | 21 | SPI _spi; |
perr1940 | 0:1d2644a20b71 | 22 | DigitalOut _cs; |
perr1940 | 0:1d2644a20b71 | 23 | bool parity_calc(int x); |
perr1940 | 0:1d2644a20b71 | 24 | int sign; |
perr1940 | 0:1d2644a20b71 | 25 | int read(); |
perr1940 | 0:1d2644a20b71 | 26 | bool parity; |
perr1940 | 0:1d2644a20b71 | 27 | bool enc_flag; |
perr1940 | 0:1d2644a20b71 | 28 | //zero_ang for standing position |
perr1940 | 0:1d2644a20b71 | 29 | float zero_ang; |
perr1940 | 0:1d2644a20b71 | 30 | short int raw; |
perr1940 | 0:1d2644a20b71 | 31 | |
perr1940 | 0:1d2644a20b71 | 32 | |
perr1940 | 0:1d2644a20b71 | 33 | // Variables |
perr1940 | 0:1d2644a20b71 | 34 | const float enc2deg; |
perr1940 | 0:1d2644a20b71 | 35 | |
perr1940 | 0:1d2644a20b71 | 36 | }; |
perr1940 | 0:1d2644a20b71 | 37 | |
perr1940 | 0:1d2644a20b71 | 38 | #endif |
perr1940 | 0:1d2644a20b71 | 39 |