hidaka sato / QEI_simple

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

Dependents:   WRS_mechanamu_test

QEI.h@0:bffc97496048, 2018-08-20 (annotated)

Committer:
sgrsn
Date:
Mon Aug 20 04:54:24 2018 +0000
Revision:
0:bffc97496048
Child:
1:6fa863d09d45
Child:
2:62821df48957
simple QEI

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
sgrsn 0:bffc97496048 7 #define PREV_MASK 0x1 //Mask for the previous state in determining direction
sgrsn 0:bffc97496048 8 //of rotation.
sgrsn 0:bffc97496048 9 #define CURR_MASK 0x2 //Mask for the current state in determining direction
sgrsn 0:bffc97496048 10 //of rotation.
sgrsn 0:bffc97496048 11 #define INVALID 0x3 //XORing two states where both bits have changed.
sgrsn 0:bffc97496048 12
sgrsn 0:bffc97496048 13
sgrsn 0:bffc97496048 14 class QEI {
sgrsn 0:bffc97496048 15
sgrsn 0:bffc97496048 16 public:
sgrsn 0:bffc97496048 17
sgrsn 0:bffc97496048 18 QEI(PinName A, PinName B, int ppr);
sgrsn 0:bffc97496048 19
sgrsn 0:bffc97496048 20 float getAngle();
sgrsn 0:bffc97496048 21
sgrsn 0:bffc97496048 22 private:
sgrsn 0:bffc97496048 23
sgrsn 0:bffc97496048 24 void encode(void);
sgrsn 0:bffc97496048 25
sgrsn 0:bffc97496048 26 InterruptIn channelA;
sgrsn 0:bffc97496048 27 InterruptIn channelB;
sgrsn 0:bffc97496048 28 float angle;
sgrsn 0:bffc97496048 29 int currState;
sgrsn 0:bffc97496048 30 int prevState;
sgrsn 0:bffc97496048 31 int position;
sgrsn 0:bffc97496048 32 float _ppr;
sgrsn 0:bffc97496048 33 };
sgrsn 0:bffc97496048 34
sgrsn 0:bffc97496048 35 #endif