Encoder Class Reference

#include <Encoder.h>

Inheritance diagram for Encoder:

Public Member Functions
	Encoder (int encA, int encB, float ppr, int index=0)
void	init ()
void	enableInterrupts (void(*doA)()=nullptr, void(*doB)()=nullptr, void(*doIndex)()=nullptr)
void	handleA ()
void	handleB ()
void	handleIndex ()
float	getAngle () override
float	getVelocity () override
int	needsSearch () override

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

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.

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 190 of file Encoder.cpp.

getAngle()

float Encoder::getAngle ( )

overridevirtual

get current angle (rad)

Implements Sensor.

Definition at line 104 of file Encoder.cpp.

getVelocity()

float Encoder::getVelocity ( )

overridevirtual

get current angular velocity (rad/s)

Reimplemented from Sensor.

Definition at line 111 of file Encoder.cpp.

handleA()

void Encoder::handleA

(

)

A channel callback function

Definition at line 42 of file Encoder.cpp.

handleB()

void Encoder::handleB

(

)

B channel callback function

Definition at line 63 of file Encoder.cpp.

handleIndex()

void Encoder::handleIndex

(

)

Index channel callback function

Definition at line 85 of file Encoder.cpp.

init()

void Encoder::init

(

)

encoder initialise pins

Definition at line 160 of file Encoder.cpp.

needsSearch()

int Encoder::needsSearch ( )

overridevirtual

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

Reimplemented from Sensor.

Definition at line 148 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