ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

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Show/hide line numbers Encoder.h Source File

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