Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Sensors/Encoders/Encoder.h

Committer:
rsavitski
Date:
2013-10-15
Revision:
92:4a1225fbb146
Parent:
20:70d651156779

File content as of revision 92:4a1225fbb146:


#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