Diff: QEI.h

Revision:

1:6fa863d09d45

Parent:

0:bffc97496048

--- a/QEI.h	Mon Aug 20 04:54:24 2018 +0000
+++ b/QEI.h	Wed Nov 14 02:18:58 2018 +0000
@@ -3,21 +3,16 @@
 
 #include "mbed.h"
 
-
-#define PREV_MASK 0x1 //Mask for the previous state in determining direction
-//of rotation.
-#define CURR_MASK 0x2 //Mask for the current state in determining direction
-//of rotation.
-#define INVALID   0x3 //XORing two states where both bits have changed.
-
-
 class QEI {
 
 public:
     
-    QEI(PinName A, PinName B, int ppr);
+    QEI(PinName A, PinName B, int ppr, Timer *t);
     
     float getAngle();
+    float getSpeed();
+    float getDisAngle();
+    void reset();
 
 private:
 
@@ -25,11 +20,15 @@
 
     InterruptIn channelA;
     InterruptIn channelB;
+    Timer *timer;
+    
     float angle;
     int currState;
     int prevState;
     int position;
+    int last_position;
     float _ppr;
+    float time;
 };
 
 #endif