hidaka sato
simple QEI library. no return speed, only return angle.
Dependents: WRS_mechanamu_test
Diff: QEI.h
- Revision:
- 0:bffc97496048
- Child:
- 1:6fa863d09d45
- Child:
- 2:62821df48957
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.h Mon Aug 20 04:54:24 2018 +0000
@@ -0,0 +1,35 @@
+#ifndef QEI_H
+#define QEI_H
+
+#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);
+
+ float getAngle();
+
+private:
+
+ void encode(void);
+
+ InterruptIn channelA;
+ InterruptIn channelB;
+ float angle;
+ int currState;
+ int prevState;
+ int position;
+ float _ppr;
+};
+
+#endif