Diff: encoder.h

Revision:

3:34a763e93423

Parent:

2:b78dfa2afe92

Child:

6:9f698d1b2996

--- a/encoder.h	Sat May 06 23:10:06 2017 +0000
+++ b/encoder.h	Sun May 07 01:31:52 2017 +0000
@@ -1,43 +1,43 @@
-//#ifndef ENCODER_H
-//#define ENCODER_H
-//#include "mbed.h"
-//
-///*
-//* Reset both encoders
-//*/
-//void resetEncoders();
-//
-///*
-//Returns the average number of pulses across both encoders since last reset. Unit is encoder pulses; intended for straight driving only.
-//*/
-//int getEncoderDistance();
-//
-//
-//class Encoder {
-//public:
-//    volatile int pulses;
-//
-//    Encoder(PinName channelA, PinName channelB);
-//    
-//    //Reset the encoder
-//    void reset(void);
-//
-//    //Gets pulses by directly querying the encoder.
-//    operator int() {
-//        return pulses;
-//    }
-//    
-//private:
-//    InterruptIn channelA_;
-//    InterruptIn channelB_;
-//    int prevState_;
-//    int currState_;
-//    
-//    void encode(void);
-//};
-//
-//
-//extern Encoder leftEncoder;
-//
-//
-//#endif 
\ No newline at end of file
+#ifndef ENCODER_H
+#define ENCODER_H
+#include "mbed.h"
+
+/*
+* Reset both encoders
+*/
+void resetEncoders();
+
+/*
+Returns the average number of pulses across both encoders since last reset. Unit is encoder pulses; intended for straight driving only.
+*/
+int getEncoderDistance();
+
+
+class Encoder {
+public:
+    volatile int pulses;
+
+    Encoder(PinName channelA, PinName channelB);
+    
+    //Reset the encoder
+    void reset(void);
+
+    //Gets pulses by directly querying the encoder.
+    operator int() {
+        return pulses;
+    }
+    
+private:
+    InterruptIn channelA_;
+    InterruptIn channelB_;
+    int prevState_;
+    int currState_;
+    
+    void encode(void);
+};
+
+
+extern Encoder leftEncoder;
+
+
+#endif 
\ No newline at end of file