Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

Sensors/IncrementalEncoder/IncrementalEncoder.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 #ifndef __INCREMENTALENCODER_H
shimniok 0:826c6171fc1b 2 #define __INCREMENTALENCODER_H
shimniok 0:826c6171fc1b 3
shimniok 0:826c6171fc1b 4 #include "mbed.h"
shimniok 0:826c6171fc1b 5
shimniok 0:826c6171fc1b 6 /** An interface for a simple, 1-track, incremental encoder. If using a simple reflectance sensor, then a voltage comparator
shimniok 0:826c6171fc1b 7 * circuit will be required to generate the pulsetrain. See: http://www.bot-thoughts.com/2011/03/avc-bot-wheel-encoders.html
shimniok 0:826c6171fc1b 8 *
shimniok 0:826c6171fc1b 9 */
shimniok 0:826c6171fc1b 10 class IncrementalEncoder
shimniok 0:826c6171fc1b 11 {
shimniok 0:826c6171fc1b 12 public:
shimniok 0:826c6171fc1b 13 /** Create an incremental encoder interface. Increments counter at every rise and fall signal
shimniok 0:826c6171fc1b 14 *
shimniok 0:826c6171fc1b 15 * @param pin -- the pin to which a digital pulsetrain is sent
shimniok 0:826c6171fc1b 16 */
shimniok 0:826c6171fc1b 17 IncrementalEncoder(PinName pin);
shimniok 0:826c6171fc1b 18
shimniok 0:826c6171fc1b 19 /** Get ticks since last call
shimniok 0:826c6171fc1b 20 *
shimniok 0:826c6171fc1b 21 * @returns the number of ticks since the last call to this method
shimniok 0:826c6171fc1b 22 */
shimniok 0:826c6171fc1b 23 unsigned int read();
shimniok 0:826c6171fc1b 24
shimniok 0:826c6171fc1b 25 /** Get total tick count since last reset
shimniok 0:826c6171fc1b 26 *
shimniok 0:826c6171fc1b 27 * @returns total ticks since the last reset or instantiation
shimniok 0:826c6171fc1b 28 */
shimniok 0:826c6171fc1b 29 unsigned int readTotal();
shimniok 0:826c6171fc1b 30
shimniok 0:826c6171fc1b 31 /** Get total rise tick count
shimniok 0:826c6171fc1b 32 *
shimniok 0:826c6171fc1b 33 * @returns total rise ticks
shimniok 0:826c6171fc1b 34 */
shimniok 0:826c6171fc1b 35 unsigned int readRise();
shimniok 0:826c6171fc1b 36
shimniok 0:826c6171fc1b 37 /** Get total fall tick count
shimniok 0:826c6171fc1b 38 *
shimniok 0:826c6171fc1b 39 * @returns total fall ticks
shimniok 0:826c6171fc1b 40 */
shimniok 0:826c6171fc1b 41 unsigned int readFall();
shimniok 0:826c6171fc1b 42
shimniok 0:826c6171fc1b 43 /** Read time interval between ticks
shimniok 0:826c6171fc1b 44 *
shimniok 0:826c6171fc1b 45 * @returns filtered time between encoder pulses
shimniok 0:826c6171fc1b 46 */
shimniok 0:826c6171fc1b 47 unsigned int readTime();
shimniok 0:826c6171fc1b 48
shimniok 0:826c6171fc1b 49 /** Reset the tick counter
shimniok 0:826c6171fc1b 50 *
shimniok 0:826c6171fc1b 51 */
shimniok 0:826c6171fc1b 52 void reset();
shimniok 0:826c6171fc1b 53
shimniok 0:826c6171fc1b 54 private:
shimniok 0:826c6171fc1b 55 Timer _t;
shimniok 0:826c6171fc1b 56 unsigned int _lastTime;
shimniok 0:826c6171fc1b 57 unsigned int _time;
shimniok 0:826c6171fc1b 58 unsigned int _lastTicks;
shimniok 0:826c6171fc1b 59 unsigned int _ticks, _rise, _fall;
shimniok 0:826c6171fc1b 60 bool _new;
shimniok 0:826c6171fc1b 61 InterruptIn _interrupt;
shimniok 0:826c6171fc1b 62 void _increment();
shimniok 0:826c6171fc1b 63 void _incRise();
shimniok 0:826c6171fc1b 64 void _incFall();
shimniok 0:826c6171fc1b 65 };
shimniok 0:826c6171fc1b 66
shimniok 0:826c6171fc1b 67 #endif