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 22 of file AHEncoder.hpp.

Collaboration diagram for AHEncoder:

Public Member Functions
	AHEncoder (uint8_t pinA, uint8_t pinB)
	Constructor.
	AHEncoder (const AHEncoder &)=delete
	Copy constructor: copying an Encoder object is semantically meaningless, so it has been deleted.
AHEncoder &	operator= (const AHEncoder &)=delete
	Copy assignment: copying an Encoder object is semantically meaningless, so it has been deleted.
	AHEncoder (AHEncoder &&other)
	Move constructor.
AHEncoder &	operator= (AHEncoder &&other)
	Move assignment.
	~AHEncoder ()
	Destructor, detaches the interrupts.
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).
void	end ()
	Disable the interrupts used by this encoder.
int32_t	read ()
	Read the current absolute position of the encoder.
int32_t	readAndReset (int32_t newpos=0)
	Read the current absolute position of the encoder and reset it to zero afterwards.
void	write (int32_t p)
	Set the absolute position to the given value.

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

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

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.

Private Attributes
AH::Array< uint8_t, 2 >	pins
uint8_t	interrupts_in_use = 0
uint8_t	state = 0
AH::Array< DirectPinRead, 2 >	direct_pins
AtomicPosition< int32_t >	position {0}

Static Private Attributes
static AHEncoder *	instance_table [NUM_DIGITAL_PINS] {}
	Array of pointers to all instances with active interrupts.

Member Typedef Documentation

isr_func_t

using isr_func_t = void (*)()

private

The type of a handler function.

Definition at line 71 of file AHEncoder.hpp.

Constructor & Destructor Documentation

AHEncoder() [1/3]

AHEncoder	(	uint8_t	pinA,
		uint8_t	pinB )

Constructor.

Parameters

pinA	The first pin, connected to the encoder's "A" pin.
pinB	The 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 14 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 23 of file AHEncoder.cpp.

~AHEncoder()

~AHEncoder

(

)

Destructor, detaches the interrupts.

Definition at line 72 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 29 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 79 of file AHEncoder.cpp.

end()

void end

(

)

Disable the interrupts used by this encoder.

Definition at line 104 of file AHEncoder.cpp.

read()

int32_t read

(

)

Read the current absolute position of the encoder.

readAndReset()

int32_t readAndReset

(

int32_t

newpos = 0

)

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

write()

void write

(

int32_t

p

)

Set the absolute position to the given value.

get_isr()

template<unsigned NumISR = NUM_DIGITAL_PINS>

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 111 of file AHEncoder.cpp.

detachInterruptCtx()

void detachInterruptCtx ( int interrupt )

private

Un-register the interrupt handler for this instance.

Definition at line 133 of file AHEncoder.cpp.

update()

void update ( )

private

Private handler function that is called from the ISR.

Member Data Documentation

pins

AH::Array<uint8_t, 2> pins

private

Definition at line 81 of file AHEncoder.hpp.

interrupts_in_use

uint8_t interrupts_in_use = 0

private

Definition at line 82 of file AHEncoder.hpp.

state

uint8_t state = 0

private

Definition at line 83 of file AHEncoder.hpp.

direct_pins

AH::Array<DirectPinRead, 2> direct_pins

private

Definition at line 84 of file AHEncoder.hpp.

position

AtomicPosition<int32_t> position {0}

private

Definition at line 85 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 146 of file AHEncoder.hpp.

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

• AHEncoder.hpp
• AHEncoder.cpp