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AHEncoder Class Reference

#include <Submodules/Encoder/AHEncoder.hpp>

Detailed Description

Class for reading quadrature encoders, heavily influenced by http://www.pjrc.com/teensy/td_libs_Encoder.html.

Definition at line 21 of file AHEncoder.hpp.

+ Collaboration diagram for AHEncoder:

Public Member Functions

 AHEncoder (uint8_t pinA, uint8_t pinB)
 Constructor. More...
 
 AHEncoder (const AHEncoder &)=delete
 Copy constructor: copying an Encoder object is semantically meaningless, so it has been deleted. More...
 
AHEncoderoperator= (const AHEncoder &)=delete
 Copy assignment: copying an Encoder object is semantically meaningless, so it has been deleted. More...
 
 AHEncoder (AHEncoder &&other)
 Move constructor. More...
 
AHEncoderoperator= (AHEncoder &&other)
 Move assignment. More...
 
 ~AHEncoder ()
 Destructor, detaches the interrupts. More...
 
void begin ()
 Initialize this encoder by enabling the pull-up resistors and attaching the interrupts handlers (if interrupts are enabled and available on the the given pins). More...
 
void end ()
 Disable the interrupts used by this encoder. More...
 
int32_t read ()
 Read the current absolute position of the encoder. More...
 
int32_t readAndReset (int32_t newpos=0)
 Read the current absolute position of the encoder and reset it to zero afterwards. More...
 
void write (int32_t p)
 Set the absolute position to the given value. More...
 
template<unsigned NumISR>
auto get_isr (unsigned interrupt) -> isr_func_t
 

Private Types

using isr_func_t = void(*)()
 The type of a handler function. More...
 

Private Member Functions

void attachInterruptCtx (int interrupt)
 Register the interrupt handler for this instance. More...
 
void detachInterruptCtx (int interrupt)
 Un-register the interrupt handler for this instance. More...
 
void update ()
 Private handler function that is called from the ISR. More...
 

Static Private Member Functions

template<unsigned NumISR = NUM_DIGITAL_PINS>
static isr_func_t get_isr (unsigned interrupt)
 Get a pointer to the interrupt handler function for the given interrupt. More...
 
template<>
auto get_isr (unsigned) -> isr_func_t
 

Private Attributes

uint8_t pins [2]
 
uint8_t interrupts_in_use = 0
 
uint8_t state = 0
 
DirectPinRead direct_pins [2]
 
AtomicPosition< int32_t > position {0}
 

Static Private Attributes

static AHEncoderinstance_table [NUM_DIGITAL_PINS] {}
 Array of pointers to all instances with active interrupts. More...
 

Member Typedef Documentation

◆ isr_func_t

using isr_func_t = void (*)()
private

The type of a handler function.

Definition at line 70 of file AHEncoder.hpp.

Constructor & Destructor Documentation

◆ AHEncoder() [1/3]

AHEncoder ( uint8_t  pinA,
uint8_t  pinB 
)

Constructor.

Parameters
pinAThe first pin, connected to the encoder's "A" pin.
pinBThe second pin, connected to the encoder's "B" pin.

The internal pull-up resistors will be enabled on these pins upon initialization (when calling the begin method).

Definition at line 9 of file AHEncoder.cpp.

◆ AHEncoder() [2/3]

AHEncoder ( const AHEncoder )
delete

Copy constructor: copying an Encoder object is semantically meaningless, so it has been deleted.

◆ AHEncoder() [3/3]

AHEncoder ( AHEncoder &&  other)

Move constructor.

Definition at line 18 of file AHEncoder.cpp.

◆ ~AHEncoder()

~AHEncoder ( )

Destructor, detaches the interrupts.

Definition at line 63 of file AHEncoder.cpp.

Member Function Documentation

◆ operator=() [1/2]

AHEncoder & operator= ( const AHEncoder )
delete

Copy assignment: copying an Encoder object is semantically meaningless, so it has been deleted.

◆ operator=() [2/2]

AHEncoder & operator= ( AHEncoder &&  other)

Move assignment.

Definition at line 20 of file AHEncoder.cpp.

◆ begin()

void begin ( )

Initialize this encoder by enabling the pull-up resistors and attaching the interrupts handlers (if interrupts are enabled and available on the the given pins).

Definition at line 70 of file AHEncoder.cpp.

◆ end()

void end ( )

Disable the interrupts used by this encoder.

Definition at line 93 of file AHEncoder.cpp.

◆ read()

int32_t read ( )
inline

Read the current absolute position of the encoder.

Definition at line 19 of file AHEncoder.ipp.

◆ readAndReset()

int32_t readAndReset ( int32_t  newpos = 0)
inline

Read the current absolute position of the encoder and reset it to zero afterwards.

Definition at line 25 of file AHEncoder.ipp.

◆ write()

void write ( int32_t  p)
inline

Set the absolute position to the given value.

Definition at line 31 of file AHEncoder.ipp.

◆ get_isr() [1/3]

static isr_func_t get_isr ( unsigned  interrupt)
staticprivate

Get a pointer to the interrupt handler function for the given interrupt.

◆ attachInterruptCtx()

void attachInterruptCtx ( int  interrupt)
private

Register the interrupt handler for this instance.

Definition at line 100 of file AHEncoder.cpp.

◆ detachInterruptCtx()

void detachInterruptCtx ( int  interrupt)
private

Un-register the interrupt handler for this instance.

Definition at line 121 of file AHEncoder.cpp.

◆ update()

void update ( )
inlineprivate

Private handler function that is called from the ISR.

Definition at line 62 of file AHEncoder.ipp.

◆ get_isr() [2/3]

auto get_isr ( unsigned  interrupt) -> isr_func_t

Definition at line 8 of file AHEncoder.ipp.

◆ get_isr() [3/3]

auto get_isr ( unsigned  ) -> isr_func_t
inlinestaticprivate

Definition at line 15 of file AHEncoder.ipp.

Member Data Documentation

◆ pins

uint8_t pins[2]
private

Definition at line 80 of file AHEncoder.hpp.

◆ interrupts_in_use

uint8_t interrupts_in_use = 0
private

Definition at line 81 of file AHEncoder.hpp.

◆ state

uint8_t state = 0
private

Definition at line 82 of file AHEncoder.hpp.

◆ direct_pins

DirectPinRead direct_pins[2]
private

Definition at line 83 of file AHEncoder.hpp.

◆ position

AtomicPosition<int32_t> position {0}
private

Definition at line 84 of file AHEncoder.hpp.

◆ instance_table

AHEncoder * instance_table {}
staticprivate

Array of pointers to all instances with active interrupts.

Used to look up the instance to call the handler for in the ISR.

Definition at line 91 of file AHEncoder.hpp.


The documentation for this class was generated from the following files: