Xavier Jannin / Mbed 2 deprecated PETIT_robot

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Dependencies:   mbed

Capteurs/Encodeur.h

Committer:
xav_jann1
Date:
2019-05-22
Revision:
0:1cfd66c3a181

File content as of revision 0:1cfd66c3a181:

#ifndef ENCODEUR_H
#define ENCODEUR_H

#include "mbed.h"

#ifndef M_PI
//#define M_PI   3.14159265358979323846
#define M_PI   3.14159265358979323846f
#endif

// Initialisation du Timer pour l'Encodeur:
void EncodeurInit(TIM_Encoder_InitTypeDef* encodeur, TIM_HandleTypeDef* timer, TIM_TypeDef* TIMx, uint32_t resolution);

class Encodeur {
 public:
  // Constructeur:
  Encodeur(char e, int resolution, int diametre);
  
  // Getters & Setter:
  uint16_t getCount();
  int getTotalCount();
  int getTours();
  int* getTours_ptr();
  void updateTour(int);
  int getDist();     // en mm
  
  int getDiametre(); // en mm
  int getResolution(); 
  float getTicks_par_mm();
  
 private:
  int m_tours;
  int m_resolution;
  int m_diametre;  // en mm
  float m_ticks_par_mm;
  TIM_HandleTypeDef* m_timer;
};

#endif