Diff: encoder.h

Revision:

1:2dd7853c911a

Parent:

0:c90b36abcbf8

Child:

2:0998a8fd7727

Child:

3:dcb7bdc73882

--- a/encoder.h	Wed Sep 25 14:55:08 2013 +0000
+++ b/encoder.h	Tue Oct 01 21:47:15 2013 +0000
@@ -2,13 +2,42 @@
 #define _ENCODER_H_
 
 #include "mbed.h"
-
+/** Encoder class.
+ *  Used to read out incremental position encoder. Decodes position in X2 configuration.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "Encoder.h"
+ *
+ *   Encoder motor1(PTD0,PTC9);
+ *   Serial pc(USBTX,USBRX);
+ *   pc.baud(115200);
+ *   while(1) {
+ *       wait(0.2);
+ *       pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
+ *   }
+ * @endcode
+ */
 class Encoder
 {
     public:
+    /** Create Encoder instance
+    @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn.
+    @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location
+    */
     Encoder(PinName int_a, PinName int_b);
+    /** Request position
+    @returns current position in encoder counts
+    */
     int32_t getPosition(){return m_position;}
+    /** Overwrite position
+    @param pos position to be written
+    */
     void    setPosition(int32_t pos){m_position = pos;}
+    /** Request speed
+    @returns current speed
+    */
     float   getSpeed(){return m_speed;}
     private:
     void encoderFalling(void);