Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Sensors/IncrementalEncoder/IncrementalEncoder.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #ifndef __INCREMENTALENCODER_H
shimniok 0:a6a169de725f 2 #define __INCREMENTALENCODER_H
shimniok 0:a6a169de725f 3
shimniok 0:a6a169de725f 4 #include "mbed.h"
shimniok 0:a6a169de725f 5
shimniok 0:a6a169de725f 6 /** An interface for a simple, 1-track, incremental encoder. If using a simple reflectance sensor, then a voltage comparator
shimniok 0:a6a169de725f 7 * circuit will be required to generate the pulsetrain. See: http://www.bot-thoughts.com/2011/03/avc-bot-wheel-encoders.html
shimniok 0:a6a169de725f 8 *
shimniok 0:a6a169de725f 9 */
shimniok 0:a6a169de725f 10 class IncrementalEncoder
shimniok 0:a6a169de725f 11 {
shimniok 0:a6a169de725f 12 public:
shimniok 0:a6a169de725f 13 /** Create an incremental encoder interface. Increments counter at every rise and fall signal
shimniok 0:a6a169de725f 14 *
shimniok 0:a6a169de725f 15 * @param pin -- the pin to which a digital pulsetrain is sent
shimniok 0:a6a169de725f 16 */
shimniok 0:a6a169de725f 17 IncrementalEncoder(PinName pin);
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19 /** Get ticks since last call
shimniok 0:a6a169de725f 20 *
shimniok 0:a6a169de725f 21 * @returns the number of ticks since the last call to this method
shimniok 0:a6a169de725f 22 */
shimniok 0:a6a169de725f 23 unsigned int read();
shimniok 0:a6a169de725f 24
shimniok 0:a6a169de725f 25 /** Get total tick count since last reset
shimniok 0:a6a169de725f 26 *
shimniok 0:a6a169de725f 27 * @returns total ticks since the last reset or instantiation
shimniok 0:a6a169de725f 28 */
shimniok 0:a6a169de725f 29 unsigned int readTotal();
shimniok 0:a6a169de725f 30
shimniok 0:a6a169de725f 31 /** Get total rise tick count
shimniok 0:a6a169de725f 32 *
shimniok 0:a6a169de725f 33 * @returns total rise ticks
shimniok 0:a6a169de725f 34 */
shimniok 0:a6a169de725f 35 unsigned int readRise();
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 /** Get total fall tick count
shimniok 0:a6a169de725f 38 *
shimniok 0:a6a169de725f 39 * @returns total fall ticks
shimniok 0:a6a169de725f 40 */
shimniok 0:a6a169de725f 41 unsigned int readFall();
shimniok 0:a6a169de725f 42
shimniok 0:a6a169de725f 43 /** Read time interval between ticks
shimniok 0:a6a169de725f 44 *
shimniok 0:a6a169de725f 45 * @returns filtered time between encoder pulses
shimniok 0:a6a169de725f 46 */
shimniok 0:a6a169de725f 47 unsigned int readTime();
shimniok 0:a6a169de725f 48
shimniok 0:a6a169de725f 49 /** Reset the tick counter
shimniok 0:a6a169de725f 50 *
shimniok 0:a6a169de725f 51 */
shimniok 0:a6a169de725f 52 void reset();
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 private:
shimniok 0:a6a169de725f 55 Timer _t;
shimniok 0:a6a169de725f 56 unsigned int _lastTime;
shimniok 0:a6a169de725f 57 unsigned int _time;
shimniok 0:a6a169de725f 58 unsigned int _lastTicks;
shimniok 0:a6a169de725f 59 unsigned int _ticks, _rise, _fall;
shimniok 0:a6a169de725f 60 bool _new;
shimniok 0:a6a169de725f 61 InterruptIn _interrupt;
shimniok 0:a6a169de725f 62 void _increment();
shimniok 0:a6a169de725f 63 void _incRise();
shimniok 0:a6a169de725f 64 void _incFall();
shimniok 0:a6a169de725f 65 };
shimniok 0:a6a169de725f 66
shimniok 0:a6a169de725f 67 #endif