An interface for a simple, 1-track, incremental encoder.
Dependents: AVC_20110423 incrementalencoder-pid-robot DataBus2018
IncrementalEncoder.cpp@0:dea4a931b267, 2011-04-27 (annotated)
- Committer:
- shimniok
- Date:
- Wed Apr 27 17:58:52 2011 +0000
- Revision:
- 0:dea4a931b267
- Child:
- 1:5011d894d5a7
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:dea4a931b267 | 1 | #include "IncrementalEncoder.h" |
shimniok | 0:dea4a931b267 | 2 | |
shimniok | 0:dea4a931b267 | 3 | IncrementalEncoder::IncrementalEncoder(PinName pin): _lastTicks(0), _ticks(0), _interrupt(pin) { |
shimniok | 0:dea4a931b267 | 4 | _interrupt.mode(PullNone); // default is pulldown but my encoder board uses a pull-up and that just don't work |
shimniok | 0:dea4a931b267 | 5 | _interrupt.rise(this, &IncrementalEncoder::_increment); |
shimniok | 0:dea4a931b267 | 6 | _interrupt.fall(this, &IncrementalEncoder::_increment); |
shimniok | 0:dea4a931b267 | 7 | } |
shimniok | 0:dea4a931b267 | 8 | |
shimniok | 0:dea4a931b267 | 9 | unsigned int IncrementalEncoder::read() { |
shimniok | 0:dea4a931b267 | 10 | // disable interrupts? |
shimniok | 0:dea4a931b267 | 11 | unsigned int ticks = _ticks - _lastTicks; |
shimniok | 0:dea4a931b267 | 12 | _lastTicks = _ticks; |
shimniok | 0:dea4a931b267 | 13 | |
shimniok | 0:dea4a931b267 | 14 | return ticks; |
shimniok | 0:dea4a931b267 | 15 | } |
shimniok | 0:dea4a931b267 | 16 | |
shimniok | 0:dea4a931b267 | 17 | unsigned int IncrementalEncoder::readTotal() { |
shimniok | 0:dea4a931b267 | 18 | return _ticks; |
shimniok | 0:dea4a931b267 | 19 | } |
shimniok | 0:dea4a931b267 | 20 | |
shimniok | 0:dea4a931b267 | 21 | |
shimniok | 0:dea4a931b267 | 22 | void IncrementalEncoder::reset() { |
shimniok | 0:dea4a931b267 | 23 | _ticks = _lastTicks = 0; |
shimniok | 0:dea4a931b267 | 24 | } |
shimniok | 0:dea4a931b267 | 25 | |
shimniok | 0:dea4a931b267 | 26 | |
shimniok | 0:dea4a931b267 | 27 | void IncrementalEncoder::_increment() { |
shimniok | 0:dea4a931b267 | 28 | _ticks++; |
shimniok | 0:dea4a931b267 | 29 | } |