Revision 6:18b000b443af, committed 2014-09-29

Comitter:

vsluiter

Date:

Mon Sep 29 20:47:37 2014 +0000

Parent:

5:04c4a90c7a0a

Commit message:

Updated documentation

Changed in this revision

--- a/encoder.cpp.orig	Mon Sep 29 20:43:45 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-
-#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

--- a/encoder.h	Mon Sep 29 20:43:45 2014 +0000
+++ b/encoder.h	Mon Sep 29 20:47:37 2014 +0000
@@ -2,6 +2,7 @@
 #define _ENCODER_H_
 
 #include "mbed.h"
+
 /** Encoder class.
  *  Used to read out incremental position encoder. Decodes position in X2 configuration.
  *
@@ -27,6 +28,7 @@
     /** 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
+    @param speed boolean value to determine whether speed calculation is done in interrupt routine. Default false (no speed calculation)
     */
 
     Encoder(PinName int_a, PinName int_b, bool speed=false);

--- a/encoder.h.orig	Mon Sep 29 20:43:45 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,56 +0,0 @@
-#ifndef _ENCODER_H_
-#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 pos_a, PinName pos_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);
-    void encoderRising(void);
-    Timer EncoderTimer;
-    //Timeout EncoderTimeout;
-    InterruptIn pin_a;
-    DigitalIn pin_b;
-    int32_t m_position;
-    float   m_speed;
-    void timeouthandler(void);
-    bool zero_speed;
-};
-
-
-#endif //_ENCODER_H_
\ No newline at end of file