Kristian Lauszus / Mbed 2 deprecated BalancingRobotPS3

Code for my balancing robot, controlled with a PS3 controller via bluetooth

Dependencies:   mbed

Encoder.h

Committer:
Lauszus
Date:
2012-04-13
Revision:
8:87dd9d5f7001
Parent:
4:0b4c320bc948

File content as of revision 8:87dd9d5f7001:

#ifndef _encoder_h_
#define _encoder_h_

class Encoder {
public:
    Encoder(PinName pinA, PinName pinB) : _HallSensorA(pinA), _HallSensorB(pinB) {
        _counter = 0;
        _HallSensorA.rise(this, &Encoder::EncodeA);
    }
    long read() {
        return _counter;
    }
private:
    volatile long _counter;
    InterruptIn _HallSensorA;
    DigitalIn _HallSensorB;

    void EncodeA() {
        if (_HallSensorB.read())
            _counter++;
        else
            _counter--;
    }
};

#endif