Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

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Show/hide line numbers Encoder.hpp Source File

Encoder.hpp

00001 #ifndef ENCODER_H
00002 #define ENCODER_H
00003 
00004 #include "mbed.h"
00005 
00006 struct EncoderData
00007 {
00008     PinName encAPin, encBPin;
00009     int turnCount;
00010 };
00011 
00012 class Encoder
00013 {
00014 public:
00015     Encoder(EncoderData nData);
00016     
00017     virtual void reset();
00018     
00019     long getCount() const;
00020     float getTurn() const;
00021     
00022 protected:
00023     EncoderData data;
00024     
00025 private:
00026     void changeA();
00027     void changeB();
00028     void changeCount(bool flipB);
00029     
00030     InterruptIn intA, intB;
00031     volatile bool valA, valB;
00032     
00033     volatile long count;
00034 };
00035 
00036 #endif // ENCODER_H
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