zhouhang shao
/
test
test
encoder.h@2:b78dfa2afe92, 2017-05-06 (annotated)
- Committer:
- szh66
- Date:
- Sat May 06 23:10:06 2017 +0000
- Revision:
- 2:b78dfa2afe92
- Child:
- 3:34a763e93423
basic PCB board tests
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
szh66 | 2:b78dfa2afe92 | 1 | //#ifndef ENCODER_H |
szh66 | 2:b78dfa2afe92 | 2 | //#define ENCODER_H |
szh66 | 2:b78dfa2afe92 | 3 | //#include "mbed.h" |
szh66 | 2:b78dfa2afe92 | 4 | // |
szh66 | 2:b78dfa2afe92 | 5 | ///* |
szh66 | 2:b78dfa2afe92 | 6 | //* Reset both encoders |
szh66 | 2:b78dfa2afe92 | 7 | //*/ |
szh66 | 2:b78dfa2afe92 | 8 | //void resetEncoders(); |
szh66 | 2:b78dfa2afe92 | 9 | // |
szh66 | 2:b78dfa2afe92 | 10 | ///* |
szh66 | 2:b78dfa2afe92 | 11 | //Returns the average number of pulses across both encoders since last reset. Unit is encoder pulses; intended for straight driving only. |
szh66 | 2:b78dfa2afe92 | 12 | //*/ |
szh66 | 2:b78dfa2afe92 | 13 | //int getEncoderDistance(); |
szh66 | 2:b78dfa2afe92 | 14 | // |
szh66 | 2:b78dfa2afe92 | 15 | // |
szh66 | 2:b78dfa2afe92 | 16 | //class Encoder { |
szh66 | 2:b78dfa2afe92 | 17 | //public: |
szh66 | 2:b78dfa2afe92 | 18 | // volatile int pulses; |
szh66 | 2:b78dfa2afe92 | 19 | // |
szh66 | 2:b78dfa2afe92 | 20 | // Encoder(PinName channelA, PinName channelB); |
szh66 | 2:b78dfa2afe92 | 21 | // |
szh66 | 2:b78dfa2afe92 | 22 | // //Reset the encoder |
szh66 | 2:b78dfa2afe92 | 23 | // void reset(void); |
szh66 | 2:b78dfa2afe92 | 24 | // |
szh66 | 2:b78dfa2afe92 | 25 | // //Gets pulses by directly querying the encoder. |
szh66 | 2:b78dfa2afe92 | 26 | // operator int() { |
szh66 | 2:b78dfa2afe92 | 27 | // return pulses; |
szh66 | 2:b78dfa2afe92 | 28 | // } |
szh66 | 2:b78dfa2afe92 | 29 | // |
szh66 | 2:b78dfa2afe92 | 30 | //private: |
szh66 | 2:b78dfa2afe92 | 31 | // InterruptIn channelA_; |
szh66 | 2:b78dfa2afe92 | 32 | // InterruptIn channelB_; |
szh66 | 2:b78dfa2afe92 | 33 | // int prevState_; |
szh66 | 2:b78dfa2afe92 | 34 | // int currState_; |
szh66 | 2:b78dfa2afe92 | 35 | // |
szh66 | 2:b78dfa2afe92 | 36 | // void encode(void); |
szh66 | 2:b78dfa2afe92 | 37 | //}; |
szh66 | 2:b78dfa2afe92 | 38 | // |
szh66 | 2:b78dfa2afe92 | 39 | // |
szh66 | 2:b78dfa2afe92 | 40 | //extern Encoder leftEncoder; |
szh66 | 2:b78dfa2afe92 | 41 | // |
szh66 | 2:b78dfa2afe92 | 42 | // |
szh66 | 2:b78dfa2afe92 | 43 | //#endif |