#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 (ArduinoPin_t pinA, ArduinoPin_t pinB) | |
| Constructor. More... | |
| AHEncoder (const AHEncoder &)=delete | |
| Copy constructor: copying an Encoder object is semantically meaningless, so it has been deleted. More... | |
| AHEncoder & | operator= (const AHEncoder &)=delete |
| Copy assignment: copying an Encoder object is semantically meaningless, so it has been deleted. More... | |
| AHEncoder (AHEncoder &&other) | |
| Move constructor. More... | |
| AHEncoder & | operator= (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 | |
| ArduinoPin_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 AHEncoder * | instance_table [NUM_DIGITAL_PINS] {} |
| Array of pointers to all instances with active interrupts. More... | |
Member Typedef Documentation
◆ isr_func_t
|
private |
The type of a handler function.
Definition at line 70 of file AHEncoder.hpp.
Constructor & Destructor Documentation
◆ AHEncoder() [1/3]
| AHEncoder | ( | ArduinoPin_t | pinA, |
| ArduinoPin_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).
◆ AHEncoder() [2/3]
Copy constructor: copying an Encoder object is semantically meaningless, so it has been deleted.
◆ AHEncoder() [3/3]
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]
Copy assignment: copying an Encoder object is semantically meaningless, so it has been deleted.
◆ operator=() [2/2]
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()
|
inline |
Read the current absolute position of the encoder.
Definition at line 19 of file AHEncoder.ipp.
◆ readAndReset()
|
inline |
Read the current absolute position of the encoder and reset it to zero afterwards.
Definition at line 25 of file AHEncoder.ipp.
◆ write()
|
inline |
Set the absolute position to the given value.
Definition at line 31 of file AHEncoder.ipp.
◆ get_isr() [1/3]
|
staticprivate |
Get a pointer to the interrupt handler function for the given interrupt.
◆ attachInterruptCtx()
|
private |
Register the interrupt handler for this instance.
Definition at line 100 of file AHEncoder.cpp.
◆ detachInterruptCtx()
|
private |
Un-register the interrupt handler for this instance.
Definition at line 121 of file AHEncoder.cpp.
◆ 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]
|
inlinestaticprivate |
Definition at line 15 of file AHEncoder.ipp.
Member Data Documentation
◆ pins
|
private |
Definition at line 80 of file AHEncoder.hpp.
◆ interrupts_in_use
|
private |
Definition at line 81 of file AHEncoder.hpp.
◆ state
|
private |
Definition at line 82 of file AHEncoder.hpp.
◆ direct_pins
|
private |
Definition at line 83 of file AHEncoder.hpp.
◆ position
|
private |
Definition at line 84 of file AHEncoder.hpp.
◆ 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:
