Rob Griffith / Mbed 2 deprecated rat_code

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Dependencies:   mbed QEI

src/encoders.cpp@3:35deb5c21b33, 2018-11-26 (annotated)

Committer:
rwgriffithv
Date:
Mon Nov 26 23:50:58 2018 +0000
Revision:
3:35deb5c21b33
Parent:
0:88c60458332e 
pid controller updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwgriffithv 0:88c60458332e 1 #include "encoders.h"
rwgriffithv 0:88c60458332e 2 #include "pins.h"
rwgriffithv 0:88c60458332e 3 #include "globals.h"
rwgriffithv 0:88c60458332e 4 #include "mbed.h"
rwgriffithv 0:88c60458332e 5 #include "QEI.h"
rwgriffithv 0:88c60458332e 6
rwgriffithv 0:88c60458332e 7 /***
rwgriffithv 0:88c60458332e 8 * Assignment 2
rwgriffithv 0:88c60458332e 9 *
rwgriffithv 0:88c60458332e 10 * Import the QEI in order to have functioning encoders.
rwgriffithv 0:88c60458332e 11 ***/
rwgriffithv 0:88c60458332e 12 QEI wheel_R(ENC_RF, ENC_RB, NC, 624, QEI::X4_ENCODING);
rwgriffithv 0:88c60458332e 13 QEI wheel_L(ENC_LF, ENC_LB, NC, 624, QEI::X4_ENCODING);
rwgriffithv 0:88c60458332e 14
rwgriffithv 0:88c60458332e 15 ///////
rwgriffithv 0:88c60458332e 16 // Encoder class implementation
rwgriffithv 0:88c60458332e 17 ///////
rwgriffithv 0:88c60458332e 18
rwgriffithv 0:88c60458332e 19 Encoder::Encoder() {
rwgriffithv 0:88c60458332e 20 reset();
rwgriffithv 0:88c60458332e 21 }
rwgriffithv 0:88c60458332e 22
rwgriffithv 0:88c60458332e 23 void Encoder::reset() volatile {
rwgriffithv 0:88c60458332e 24 wheel_R.reset();
rwgriffithv 0:88c60458332e 25 wheel_L.reset();
rwgriffithv 0:88c60458332e 26 }
rwgriffithv 0:88c60458332e 27
rwgriffithv 0:88c60458332e 28 int Encoder::getPulsesR() volatile {
rwgriffithv 0:88c60458332e 29 return wheel_R.getPulses();
rwgriffithv 0:88c60458332e 30 }
rwgriffithv 0:88c60458332e 31
rwgriffithv 0:88c60458332e 32 int Encoder::getPulsesL() volatile {
rwgriffithv 0:88c60458332e 33 return wheel_L.getPulses();
rwgriffithv 0:88c60458332e 34 }
rwgriffithv 0:88c60458332e 35
rwgriffithv 0:88c60458332e 36 void Encoder::printValues() volatile {
rwgriffithv 0:88c60458332e 37 pc.printf("R: %d\tL: %d\n", getPulsesR(), getPulsesL());
rwgriffithv 0:88c60458332e 38 }