Statistics
| Branch: | Tag: | Revision:

amiro-os / include / amiro / MotorIncrements.h @ 58fe0e0b

History | View | Annotate | Download (1.03 KB)

1
#ifndef AMIRO_MOTOR_INCREMENTS_H_
2
#define AMIRO_MOTOR_INCREMENTS_H_
3

    
4
namespace amiro {
5

    
6
  class MotorIncrements {
7

    
8
    public:
9
    /**
10
     * Constructor
11
     * This only creates the config. To start the qei driver, one needs to call
12
     * qeiInit() after halInit() in the main process first. Then run this->start().
13
     *
14
     * @param qei0 quadrature encoder for left wheel from 'amiro-os/hal/include/qei.h'
15
     * @param qei0 quadrature encoder for right wheel from 'amiro-os/hal/include/qei.h'
16
     */
17
    MotorIncrements(QEIDriver* qei0, QEIDriver* qei1);
18

    
19
    /**
20
     * Get the encoder position
21
     *
22
     * @return position of the encode
23
     */
24
    int qeiGetPosition(int idxQei);
25

    
26
    /**
27
     * Get the range of the qei config
28
     *
29
     * @return value of the range of the qei
30
     */
31
    int getQeiConfigRange();
32

    
33
    /**
34
     * Starts the qei driver (First run qeiInit() in the main process)
35
     */
36
    void start();
37

    
38
  private:
39
    QEIDriver* qeiDriver[2];
40
    QEIConfig qeiConfig;
41
  };
42

    
43
}
44

    
45
#endif /* AMIRO_MOTOR_INCREMENTS_H_ */