Ryosuke Matsushima / Encoder

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   TUKUBAMotorDriver

Encoder.h

Committer:
ryosukenanoda
Date:
2020-12-30
Revision:
0:82c1b12a0041
Child:
1:c44f4aa7a45d

File content as of revision 0:82c1b12a0041:

#include "mbed.h"

#define PI 3.14159265359
#define RESOLUTION_COUNT 16.0
#define GEAR_RAITO 43.7

class Encoder {
public:
    Encoder(PinName pin_A, PinName pin_B);

    float get_raito();

private:
    Timer timer;

    int last_time;

    int max_time;
    
    float dt_to_raito;

    float raito;

    void did_rise();

    void update_raito(int dt); //dt microsec
    
    float direction();

protected:
    InterruptIn _pin_A;
    DigitalIn _pin_B;
};