hidaka sato / QEI_simple

simple QEI library. no return speed, only return angle.

Dependents:   WRS_mechanamu_test

QEI.h@1:6fa863d09d45, 2018-11-14 (annotated)

Committer:
sgrsn
Date:
Wed Nov 14 02:18:58 2018 +0000
Revision:
1:6fa863d09d45
Parent:
0:bffc97496048 
Add getDisAngle for Odmetry

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sgrsn 0:bffc97496048 1 #ifndef QEI_H
sgrsn 0:bffc97496048 2 #define QEI_H
sgrsn 0:bffc97496048 3
sgrsn 0:bffc97496048 4 #include "mbed.h"
sgrsn 0:bffc97496048 5
sgrsn 0:bffc97496048 6 class QEI {
sgrsn 0:bffc97496048 7
sgrsn 0:bffc97496048 8 public:
sgrsn 0:bffc97496048 9
sgrsn 1:6fa863d09d45 10 QEI(PinName A, PinName B, int ppr, Timer *t);
sgrsn 0:bffc97496048 11
sgrsn 0:bffc97496048 12 float getAngle();
sgrsn 1:6fa863d09d45 13 float getSpeed();
sgrsn 1:6fa863d09d45 14 float getDisAngle();
sgrsn 1:6fa863d09d45 15 void reset();
sgrsn 0:bffc97496048 16
sgrsn 0:bffc97496048 17 private:
sgrsn 0:bffc97496048 18
sgrsn 0:bffc97496048 19 void encode(void);
sgrsn 0:bffc97496048 20
sgrsn 0:bffc97496048 21 InterruptIn channelA;
sgrsn 0:bffc97496048 22 InterruptIn channelB;
sgrsn 1:6fa863d09d45 23 Timer *timer;
sgrsn 1:6fa863d09d45 24
sgrsn 0:bffc97496048 25 float angle;
sgrsn 0:bffc97496048 26 int currState;
sgrsn 0:bffc97496048 27 int prevState;
sgrsn 0:bffc97496048 28 int position;
sgrsn 1:6fa863d09d45 29 int last_position;
sgrsn 0:bffc97496048 30 float _ppr;
sgrsn 1:6fa863d09d45 31 float time;
sgrsn 0:bffc97496048 32 };
sgrsn 0:bffc97496048 33
sgrsn 0:bffc97496048 34 #endif