Rob Griffith / Mbed 2 deprecated rat_code

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Dependencies:   mbed QEI

Diff: src/encoders.cpp

Revision:
0:88c60458332e
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/encoders.cpp	Thu Nov 08 06:38:19 2018 +0000
@@ -0,0 +1,38 @@
+#include "encoders.h"
+#include "pins.h"
+#include "globals.h"
+#include "mbed.h"
+#include "QEI.h"
+
+/***
+ * Assignment 2
+ * 
+ * Import the QEI in order to have functioning encoders.
+ ***/
+QEI wheel_R(ENC_RF, ENC_RB, NC, 624, QEI::X4_ENCODING);
+QEI wheel_L(ENC_LF, ENC_LB, NC, 624, QEI::X4_ENCODING);
+
+///////
+// Encoder class implementation
+///////
+
+Encoder::Encoder() {
+    reset();
+}
+
+void Encoder::reset() volatile {
+    wheel_R.reset();
+    wheel_L.reset();
+}
+
+int Encoder::getPulsesR() volatile {
+    return wheel_R.getPulses();
+}
+
+int Encoder::getPulsesL() volatile {
+    return wheel_L.getPulses();
+}
+
+void Encoder::printValues() volatile {
+    pc.printf("R: %d\tL: %d\n", getPulsesR(), getPulsesL());
+}