Implements a state machine quadrature encoder based on Matthias Hertel's rotary library More...

Inheritance diagram for QPID_Encoder_QuadratureStateMachine:

Public Member Functions
double	getCount ()
	Returns current incremental position.

void	setCount (double count)
	set count of current encoder position More...

void	clearCount ()
	set count of current encoder position to 0

void	pauseCount ()
	Ignore any pulses until resumeCount() is called.

void	resumeCount ()
	Resume counting, after having it stopped by pauseCount()

double	getTicksPerRevolution ()
	...

void	update () override
	Polls encoder.

void	init (double ticks, uint8_t PinA, uint8_t pinB)
	Attach rotary encoder to pins, initialize and clear position to 0. More...

Public Member Functions inherited from QPID_Encoder
void	setFilter (double value)
	Set filter to smoothen faulty or jittery absolute readings. More...

double	getFilteredCount ()
	Returns current position count with filter setting applied. More...

Public Member Functions inherited from QPID_Object
void	throwError (const char invokedBy, const char errorMessage)
	Writes error message and error invoking class to Serial. More...

void	log (const char *logEntry)
	Puts timestamped string into the system log (atm: writes it out to Serial). More...

Protected Member Functions
bool	processMessage (uint8_t *m) override
	(abstract) Interprets message handed down from QPID_Unit locally. Must be overridden in derived classes

Protected Member Functions inherited from QPID_Object
	QPID_Object ()
	Constructor. Begins Serial with 115200 baud for logging and error reporting, if not done previously.

Additional Inherited Members
Public Attributes inherited from QPID_Encoder
double	ticksPerRevolution

Protected Attributes inherited from QPID_Encoder
double	filter = 0

double	lastCount = 0

Detailed Description

Implements a state machine quadrature encoder based on Matthias Hertel's rotary library

Note: This is a demo implementation which relies on polling via QPID subsystem polling (cf. QPID_Object::update() ). I assume this could be unreliable for fast counting, as polling/update frequency depends on QPID_Unit main update speed. A better implememtation would do the polling via timed interrupt (not pin change interrupt, this is a state machine encoder!), however this would have to be implemented per architecture.

Member Function Documentation

void QPID_Encoder_QuadratureStateMachine::setCount ( double count )

virtual

set count of current encoder position

Parameters

count position to set

Reimplemented from QPID_Encoder.

void QPID_Encoder_QuadratureStateMachine::init	(	double	ticks,
		uint8_t	pinA,
		uint8_t	pinB
	)

Attach rotary encoder to pins, initialize and clear position to 0.

Parameters

ticks	ticks per revolution
pinA,pinB	encoder pins

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