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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?
User | Revision | Line number | New 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 |