Yuta Uenodai / encoder

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Diff: encoder.h

Revision:
3:6dce9d79da13
Parent:
2:4bb7c8730d91
Child:
4:c99eb511ac08
diff -r 4bb7c8730d91 -r 6dce9d79da13 encoder.h
--- a/encoder.h	Sun Jul 22 00:15:08 2018 +0000
+++ b/encoder.h	Tue Dec 04 09:42:15 2018 +0000
@@ -13,6 +13,13 @@
 	DELTA_DISTANCE,
 };
 
+enum ENCODER_MODE{
+	X1_ENCODE,
+	X2_ENCODE,
+	X4_ENCODE,
+	
+};
+
 enum TYPE_NUMBER{
 	NORMAL,
 	DELTA,
@@ -36,11 +43,10 @@
 		
 		void reset();
 		
-        void init(float _ppr, float _radius,float _dt);
-
+        void init(float _ppr, float _radius,float _dt,int mode);
     private:
-  		void read();
-		
+  		void readAphaseRise();
+		void readAphaseFall();
 		float rpm, distance, omega, velocity, radius, delta_distance,
         	  ppr, dt, dt_square, circle, acceleration;