50 lines
1.1 KiB
C++
50 lines
1.1 KiB
C++
#include "Encoder.h"
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volatile unsigned char Encoder::transitionCount = 0;
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Encoder::Encoder() {
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rps = 0;
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transitionsPerRotation = 1; // to prevent devide by zero
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distance = 0;
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}
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Encoder::Encoder(unsigned char pin, unsigned char transitionsPerRotation)
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: Encoder::Encoder() {
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/// Hmm. Arduino dependent code
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// pinMode(pin, INPUT_PULLUP);
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// attachInterrupt(digitalPinToInterrupt(pin), InterruptHandler, CHANGE);
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this->transitionsPerRotation = transitionsPerRotation;
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}
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void Encoder::InterruptHandler() {
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transitionCount++;
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}
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float Encoder::GetRevolutionsPerSecond() {
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return rps;
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}
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void Encoder::ResetDistance() {
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distance = 0;
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}
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float Encoder::GetRotationDistance() {
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return distance;
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}
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void Encoder::Update(float timeStep) {
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// Hmmm. Arduino-dependent code...
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// noInterrupts();
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float distanceThisUpdate = transitionCount / transitionsPerRotation;
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transitionCount = 0;
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// interrupts();
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// float rps = distanceThisUpdate * timeStep;
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distance += distanceThisUpdate;
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}
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void Encoder::StartCountingRevolutions() {}
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float Encoder::RestartCountingRevolutions() {
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return 0;
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} |