TIMER::Encoder Class Reference

Quadrature Encoder support. More...

#include <encoder.h>

Classes
struct	Conf
	Encoder constructor. More...

Public Member Functions
void	measure ()
	measure the sensor
int16_t	getValue ()
	return the counter value of the timer connected to the encoder
double	getPosition ()
	return current value of encoder with overflow correction
void	zero ()
	reset encoder position

Detailed Description

Quadrature Encoder support.

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Class Documentation

TIMER::Encoder::Conf

struct TIMER::Encoder::Conf

Encoder constructor.

make sure the pins for the encoder are on channels 1 and 2 of the used timer.

Parameters

tim	Microcontroller Timer Peripheral (e.g. TIM2)
a	Alternate Function initialized pin A
b	Alternate Function initialized pin B
factor	all encompassing conversion factor from encoder value to needed unit Examples: 4-bit/revolution rotary encoder, position in degrees: factor = 1 / pow(2, 4) * 360; 12-bit/revolution rotary encoder, position in radiants: factor = 1 / pow(2, 12) * M_PI; 10-bit/revolution rotary encoder, position in m traveled with a 6cm radius wheel: factor = 1 / pow(2, 10) * M_PI * 0.06;

Collaboration diagram for TIMER::Encoder::Conf:

Member Function Documentation

measure()

void TIMER::Encoder::measure ( )

inline

measure the sensor

do this periodically to update encoder state

getValue()

int16_t TIMER::Encoder::getValue ( )

inline

return the counter value of the timer connected to the encoder

Returns

16bit counter value

getPosition()

double TIMER::Encoder::getPosition ( )

inline

return current value of encoder with overflow correction

Returns

position, based on initialized factor

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

• stm/sys/encoder.h