ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Encoder.h
00001 00002 #ifndef ENCODER_H 00003 #define ENCODER_H 00004 00005 #include "QEI.h" 00006 #include "mbed.h" 00007 #include "globals.h" 00008 00009 class Encoder{ 00010 private: 00011 DigitalIn green, yellow; 00012 QEI wheel; 00013 00014 public: 00015 Encoder(PinName pGreen, PinName pYellow) 00016 : green(pGreen) 00017 , yellow(pYellow) 00018 , wheel(pGreen,pYellow, NC, 0, QEI::X4_ENCODING) 00019 { 00020 green.mode(PullUp); 00021 yellow.mode(PullUp); 00022 } 00023 00024 int getTicks(void){ 00025 return wheel.getPulses(); 00026 } 00027 00028 void reset (void){ 00029 return wheel.reset(); 00030 } 00031 }; 00032 00033 #ifdef ENABLE_GLOBAL_ENCODERS 00034 extern Encoder right_encoder; 00035 extern Encoder left_encoder; 00036 #endif 00037 00038 #endif //ENCODER_H
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