Ryosuke Matsushima / Encoder

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Dependents:   TUKUBAMotorDriver

Encoder.h

Committer:
ryosukenanoda
Date:
2021-03-07
Revision:
3:cf7ae37c6930
Parent:
1:c44f4aa7a45d

File content as of revision 3:cf7ae37c6930:

#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();
    
    float get_rotation();

private:
    Timer timer;
    
    Timeout stop_checker;

    int last_time;

    int max_time;
    
    float to_raito;  //TODO: rename

    float raito;

    int total_count;

    void did_rise();

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

protected:
    InterruptIn _pin_A;
    DigitalIn _pin_B;
};