Diff: encoders.cpp

Revision:

0:7a97ebb833eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoders.cpp	Sun May 05 00:02:11 2019 +0000
@@ -0,0 +1,46 @@
+#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_RB, ENC_RF, 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 {
+    m_countR = 0;
+    m_countL = 0;
+    wheel_R.reset();
+    wheel_L.reset();
+}
+
+void Encoder::update() volatile {
+    m_countR = wheel_R.getPulses();
+    m_countL = wheel_L.getPulses();
+}
+
+int Encoder::right() volatile {
+    return wheel_R.getPulses();
+}
+
+int Encoder::left() volatile {
+    return wheel_L.getPulses();
+}
+
+void Encoder::printValues() volatile {
+//    Serial pc(TX, RX);
+    pc.printf("R: %d\tL: %d\n", right(), left());
+}