Encoder Class Reference

#include <Encoder.h>

Inheritance diagram for Encoder:

Collaboration diagram for Encoder:

Public Member Functions
	Encoder (int encA, int encB, float ppr, int index=0)
void	init () override
void	enableInterrupts (void(*doA)()=nullptr, void(*doB)()=nullptr, void(*doIndex)()=nullptr)
void	handleA ()
void	handleB ()
void	handleIndex ()
float	getSensorAngle () override
float	getVelocity () override
virtual void	update () override
int	needsSearch () override
Public Member Functions inherited from Sensor
virtual float	getMechanicalAngle ()
virtual float	getAngle ()
virtual double	getPreciseAngle ()
virtual int32_t	getFullRotations ()

Public Attributes
int	pinA
	encoder hardware pin A
int	pinB
	encoder hardware pin B
int	index_pin
	index pin
Pullup	pullup
	Configuration parameter internal or external pullups.
Quadrature	quadrature
	Configuration parameter enable or disable quadrature mode.
float	cpr
	encoder cpr number
Public Attributes inherited from Sensor
float	min_elapsed_time = 0.000100

Additional Inherited Members
Protected Attributes inherited from Sensor
float	velocity =0.0f
float	angle_prev =0.0f
long	angle_prev_ts =0
float	vel_angle_prev =0.0f
long	vel_angle_prev_ts =0
int32_t	full_rotations =0
int32_t	vel_full_rotations =0

Detailed Description

Definition at line 18 of file Encoder.h.

Constructor & Destructor Documentation

Encoder()

Encoder::Encoder	(	int	encA,
		int	encB,
		float	ppr,
		int	index = 0
	)

Encoder class constructor

Parameters

encA	encoder B pin
encB	encoder B pin
ppr	impulses per rotation (cpr=ppr*4)
index	index pin number (optional input)

Definition at line 11 of file Encoder.cpp.

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Member Function Documentation

enableInterrupts()

void Encoder::enableInterrupts	(	void(*)()	doA = nullptr,
		void(*)()	doB = nullptr,
		void(*)()	doIndex = nullptr
	)

function enabling hardware interrupts for the encoder channels with provided callback functions if callback is not provided then the interrupt is not enabled

Parameters

doA	pointer to the A channel interrupt handler function
doB	pointer to the B channel interrupt handler function
doIndex	pointer to the Index channel interrupt handler function

Definition at line 212 of file Encoder.cpp.

getSensorAngle()

float Encoder::getSensorAngle ( )

overridevirtual

get current angle (rad)

Implements Sensor.

Definition at line 117 of file Encoder.cpp.

getVelocity()

float Encoder::getVelocity ( )

overridevirtual

get current angular velocity (rad/s)

Reimplemented from Sensor.

Definition at line 127 of file Encoder.cpp.

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handleA()

void Encoder::handleA

(

)

A channel callback function

Definition at line 42 of file Encoder.cpp.

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handleB()

void Encoder::handleB

(

)

B channel callback function

Definition at line 63 of file Encoder.cpp.

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handleIndex()

void Encoder::handleIndex

(

)

Index channel callback function

Definition at line 85 of file Encoder.cpp.

init()

void Encoder::init ( )

overridevirtual

encoder initialise pins

Reimplemented from Sensor.

Definition at line 181 of file Encoder.cpp.

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needsSearch()

int Encoder::needsSearch ( )

overridevirtual

returns 0 if it does need search for absolute zero 0 - encoder without index 1 - encoder with index

Reimplemented from Sensor.

Definition at line 169 of file Encoder.cpp.

update()

void Encoder::update ( )

overridevirtual

Updates the sensor values by reading the hardware sensor. Some implementations may work with interrupts, and not need this. The base implementation calls getSensorAngle(), and updates internal fields for angle, timestamp and full rotations. This method must be called frequently enough to guarantee that full rotations are not "missed" due to infrequent polling. Override in subclasses if alternative behaviours are required for your sensor hardware.

Reimplemented from Sensor.

Definition at line 103 of file Encoder.cpp.

Member Data Documentation

cpr

float Encoder::cpr

encoder cpr number

Definition at line 59 of file Encoder.h.

index_pin

int Encoder::index_pin

index pin

Definition at line 54 of file Encoder.h.

pinA

int Encoder::pinA

encoder hardware pin A

Definition at line 52 of file Encoder.h.

pinB

int Encoder::pinB

encoder hardware pin B

Definition at line 53 of file Encoder.h.

pullup

Pullup Encoder::pullup

Configuration parameter internal or external pullups.

Definition at line 57 of file Encoder.h.

quadrature

Quadrature Encoder::quadrature

Configuration parameter enable or disable quadrature mode.

Definition at line 58 of file Encoder.h.

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The documentation for this class was generated from the following files:

• Encoder.h
• Encoder.cpp