PicoLowLevel/TractionEncoder_8h_source.html

#ifndef TRACTION_ENCODER_H

#define TRACTION_ENCODER_H


#include <Arduino.h>

#include <functional>

#include "Filter.h"

#include "definitions.h"

#include "quadrature_encoder.pio.h"


class TractionEncoder {

  public:

    TractionEncoder(byte pin_a, byte pin_b, Filter<int> *filter = NULL, bool invert = false, PIO pio = pio0);

    void begin();

    int getSpeed();

    int getSteps();


  private:

    byte pin_a, pin_b;

    bool invert;

    Filter<int> *filter;


    unsigned long last_time;

    int last_steps;


    PIO pio;

    uint sm;


    static uint last_sm;

    static uint offset;

    static bool initialized;

};


#endif

Filter.h

Filter
Interface for a generic filter, with parameterized type.
Definition Filter.h:9

TractionEncoder
Class used to read data from traction rotary encoders.
Definition TractionEncoder.h:13

TractionEncoder::getSpeed
int getSpeed()
Returns the last detected speed.
Definition TractionEncoder.cpp:39

TractionEncoder::begin
void begin()
Sets the encoder's pins and attach the interrupt.
Definition TractionEncoder.cpp:23

TractionEncoder::getSteps
int getSteps()
Returns the number of steps since the class was initialized.
Definition TractionEncoder.cpp:59

definitions.h

quadrature_encoder.pio.h