hidaka sato / QEI_simple

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

Dependents:   WRS_mechanamu_test

QEI.h

Committer:
sgrsn
Date:
2018-08-20
Revision:
0:bffc97496048
Child:
1:6fa863d09d45
Child:
2:62821df48957

File content as of revision 0:bffc97496048:

#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