Xavier Jannin / Mbed 2 deprecated PETIT_robot

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Dependencies:   mbed

Capteurs/Encodeur.h@0:1cfd66c3a181, 2019-05-22 (annotated)

Committer:
xav_jann1
Date:
Wed May 22 16:54:27 2019 +0000
Revision:
0:1cfd66c3a181
Premiere version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xav_jann1 0:1cfd66c3a181 1 #ifndef ENCODEUR_H
xav_jann1 0:1cfd66c3a181 2 #define ENCODEUR_H
xav_jann1 0:1cfd66c3a181 3
xav_jann1 0:1cfd66c3a181 4 #include "mbed.h"
xav_jann1 0:1cfd66c3a181 5
xav_jann1 0:1cfd66c3a181 6 #ifndef M_PI
xav_jann1 0:1cfd66c3a181 7 //#define M_PI 3.14159265358979323846
xav_jann1 0:1cfd66c3a181 8 #define M_PI 3.14159265358979323846f
xav_jann1 0:1cfd66c3a181 9 #endif
xav_jann1 0:1cfd66c3a181 10
xav_jann1 0:1cfd66c3a181 11 // Initialisation du Timer pour l'Encodeur:
xav_jann1 0:1cfd66c3a181 12 void EncodeurInit(TIM_Encoder_InitTypeDef* encodeur, TIM_HandleTypeDef* timer, TIM_TypeDef* TIMx, uint32_t resolution);
xav_jann1 0:1cfd66c3a181 13
xav_jann1 0:1cfd66c3a181 14 class Encodeur {
xav_jann1 0:1cfd66c3a181 15 public:
xav_jann1 0:1cfd66c3a181 16 // Constructeur:
xav_jann1 0:1cfd66c3a181 17 Encodeur(char e, int resolution, int diametre);
xav_jann1 0:1cfd66c3a181 18
xav_jann1 0:1cfd66c3a181 19 // Getters & Setter:
xav_jann1 0:1cfd66c3a181 20 uint16_t getCount();
xav_jann1 0:1cfd66c3a181 21 int getTotalCount();
xav_jann1 0:1cfd66c3a181 22 int getTours();
xav_jann1 0:1cfd66c3a181 23 int* getTours_ptr();
xav_jann1 0:1cfd66c3a181 24 void updateTour(int);
xav_jann1 0:1cfd66c3a181 25 int getDist(); // en mm
xav_jann1 0:1cfd66c3a181 26
xav_jann1 0:1cfd66c3a181 27 int getDiametre(); // en mm
xav_jann1 0:1cfd66c3a181 28 int getResolution();
xav_jann1 0:1cfd66c3a181 29 float getTicks_par_mm();
xav_jann1 0:1cfd66c3a181 30
xav_jann1 0:1cfd66c3a181 31 private:
xav_jann1 0:1cfd66c3a181 32 int m_tours;
xav_jann1 0:1cfd66c3a181 33 int m_resolution;
xav_jann1 0:1cfd66c3a181 34 int m_diametre; // en mm
xav_jann1 0:1cfd66c3a181 35 float m_ticks_par_mm;
xav_jann1 0:1cfd66c3a181 36 TIM_HandleTypeDef* m_timer;
xav_jann1 0:1cfd66c3a181 37 };
xav_jann1 0:1cfd66c3a181 38
xav_jann1 0:1cfd66c3a181 39 #endif