Bradley Perry
Publishing for Michael McKinley to calibrate.
Fork of
Encoders
by 
Bradley Perry
Diff: Encoder.h
- Revision:
- 0:1d2644a20b71
- Child:
- 1:2e39be3d2088
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.h Mon Nov 24 03:33:29 2014 +0000
@@ -0,0 +1,39 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include "mbed.h"
+
+// Define BaseClass Encoder
+
+class Encoder
+{
+public:
+ // Constructor
+ Encoder(PinName mosi, PinName miso, PinName sck, PinName ncs);
+ float angle();
+ bool parityFlag();
+ bool encFlag();
+ void init(float zero_ang);
+ void flip();
+ short int readRaw();
+ // Functions
+private:
+ SPI _spi;
+ DigitalOut _cs;
+ bool parity_calc(int x);
+ int sign;
+ int read();
+ bool parity;
+ bool enc_flag;
+ //zero_ang for standing position
+ float zero_ang;
+ short int raw;
+
+
+ // Variables
+ const float enc2deg;
+
+};
+
+#endif
+