Diff: encoder.cpp.orig

Revision:

4:69be34f39c9f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.cpp.orig	Mon Sep 29 15:51:28 2014 +0000
@@ -0,0 +1,72 @@
+
+#include "encoder.h"
+
+Encoder::Encoder(PinName pos_a, PinName pos_b) : pin_a(pos_a), pin_b(pos_b)
+{
+    DigitalOut rled(LED_RED);
+    rled = 0;
+    EncoderTimer.start();
+    pin_a.mode(PullUp);
+    pin_b.mode(PullUp);
+    pin_a.fall(this,&Encoder::encoderFalling);
+    pin_a.rise(this,&Encoder::encoderRising);
+    m_position = 0;
+    m_speed = 0;
+    zero_speed = false;
+}
+ 
+void Encoder::encoderFalling(void)
+{
+    //temporary speed storage, in case higher interrupt level does stuff
+    float temp_speed;
+    //int motortime_now = EncoderTimer.read_us();
+    //EncoderTimer.reset();
+    //EncoderTimeout.attach(this,&Encoder::timeouthandler,0.1);
+    /*calculate as ticks per second*/
+    //if(zero_speed)
+    //    temp_speed  = 0;
+    //else
+    //    temp_speed = 1000000./motortime_now;
+    //zero_speed = false;
+    if(pin_b)
+    {
+        m_position++;
+        m_speed = temp_speed;
+    }
+    else
+    {
+        m_position--;    
+        m_speed  = -temp_speed; //negative speed
+    }
+}
+
+void Encoder::encoderRising(void)
+{
+    //temporary speed storage, in case higher interrupt level does stuff
+    float temp_speed;
+    //int motortime_now = EncoderTimer.read_us();
+    //EncoderTimer.reset();
+    //EncoderTimeout.attach(this,&Encoder::encoderFalling,0.1);
+    /*calculate as ticks per second*/
+    //if(zero_speed)
+    //    temp_speed  = 0;
+    //else
+    //    temp_speed = 1000000./motortime_now;
+    //zero_speed = false;
+    if(pin_b)
+    {
+        m_position--;
+        m_speed = -temp_speed; //negative speed
+    }
+    else
+    {
+        m_position++;    
+        m_speed  = temp_speed; 
+    }
+}
+
+void Encoder::timeouthandler(void)
+{
+    m_speed  = 0;
+    zero_speed = true;
+}
\ No newline at end of file