upm  0.5.1
Sensor/Actuator repository for libmraa (v0.9.1)
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wheelencoder.h
1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2015 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 #pragma once
25 
26 #include <string>
27 #include <stdint.h>
28 #include <sys/time.h>
29 #include <mraa/gpio.hpp>
30 
31 namespace upm {
32 
65  class WheelEncoder {
66  public:
67 
73  WheelEncoder(int pin);
74 
78  ~WheelEncoder();
79 
86  uint32_t getMillis();
87 
92  void initClock();
93 
99  void clearCounter() { m_counter = 0; };
100 
106  void startCounter();
107 
112  void stopCounter();
113 
119  uint32_t counter() { return m_counter; };
120 
121  protected:
122  mraa::Gpio m_gpio;
123  static void wheelISR(void *ctx);
124 
125  private:
126  volatile uint32_t m_counter;
127  struct timeval m_startTime;
128  bool m_isrInstalled;
129  };
130 }
131 
132 
uint32_t getMillis()
Definition: wheelencoder.cxx:55
API for the DFRobot Wheel Encoder.
Definition: wheelencoder.h:65
uint32_t counter()
Definition: wheelencoder.h:119
void startCounter()
Definition: wheelencoder.cxx:83
void stopCounter()
Definition: wheelencoder.cxx:95
WheelEncoder(int pin)
Definition: wheelencoder.cxx:35
void initClock()
Definition: wheelencoder.cxx:50
void clearCounter()
Definition: wheelencoder.h:99
~WheelEncoder()
Definition: wheelencoder.cxx:45