Diff: Sensors/IncrementalEncoder/IncrementalEncoder.h

Revision:

0:a6a169de725f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/IncrementalEncoder/IncrementalEncoder.h	Mon May 27 13:26:03 2013 +0000
@@ -0,0 +1,67 @@
+#ifndef __INCREMENTALENCODER_H
+#define __INCREMENTALENCODER_H
+
+#include "mbed.h"
+
+/** An interface for a simple, 1-track, incremental encoder. If using a simple reflectance sensor, then a voltage comparator
+ *  circuit will be required to generate the pulsetrain.  See: http://www.bot-thoughts.com/2011/03/avc-bot-wheel-encoders.html
+ *
+ */
+class IncrementalEncoder
+{
+    public:
+        /** Create an incremental encoder interface.  Increments counter at every rise and fall signal 
+         *
+         * @param pin -- the pin to which a digital pulsetrain is sent
+         */
+        IncrementalEncoder(PinName pin);
+
+        /** Get ticks since last call
+         *
+         * @returns the number of ticks since the last call to this method
+         */        
+        unsigned int read();
+
+        /** Get total tick count since last reset
+         *
+         * @returns total ticks since the last reset or instantiation
+         */
+        unsigned int readTotal();
+       
+        /** Get total rise tick count
+         *
+         * @returns total rise ticks
+         */
+        unsigned int readRise();
+
+        /** Get total fall tick count
+         *
+         * @returns total fall ticks
+         */
+        unsigned int readFall();
+
+        /** Read time interval between ticks
+         *
+         * @returns filtered time between encoder pulses
+         */
+        unsigned int readTime();
+       
+        /** Reset the tick counter
+         *
+         */
+        void reset();
+
+    private:
+        Timer _t;
+        unsigned int _lastTime;
+        unsigned int _time;
+        unsigned int _lastTicks;
+        unsigned int _ticks, _rise, _fall;
+        bool _new;
+        InterruptIn _interrupt;
+        void _increment();
+        void _incRise();
+        void _incFall();
+};
+
+#endif
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