amiro-os / include / amiro / MotorIncrements.h @ 58fe0e0b
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#ifndef AMIRO_MOTOR_INCREMENTS_H_
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#define AMIRO_MOTOR_INCREMENTS_H_
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namespace amiro { |
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class MotorIncrements { |
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public:
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/**
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* Constructor
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* This only creates the config. To start the qei driver, one needs to call
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* qeiInit() after halInit() in the main process first. Then run this->start().
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*
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* @param qei0 quadrature encoder for left wheel from 'amiro-os/hal/include/qei.h'
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* @param qei0 quadrature encoder for right wheel from 'amiro-os/hal/include/qei.h'
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*/
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MotorIncrements(QEIDriver* qei0, QEIDriver* qei1); |
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/**
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* Get the encoder position
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*
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* @return position of the encode
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*/
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int qeiGetPosition(int idxQei); |
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/**
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* Get the range of the qei config
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*
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* @return value of the range of the qei
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*/
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int getQeiConfigRange();
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/**
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* Starts the qei driver (First run qeiInit() in the main process)
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*/
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void start();
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private:
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QEIDriver* qeiDriver[2];
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QEIConfig qeiConfig; |
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}; |
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} |
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#endif /* AMIRO_MOTOR_INCREMENTS_H_ */ |