JEncoder.h

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#ifndef J_ENCODER_H
#define J_ENCODER_H
#include <Arduino.h>
//**********SEE BOTTOM OF THIS FILE FOR #INCLUDES OF SUBCLASSES**********//
 
/* \def
 * Functions called by interrupts can't expect parameters or be functions of classes so a workaround is needed to use interrupts in a class.
 * The workaround that's used here is global functions need to be made when a new instance of this class is made.
 * The global function(s) get used when attaching interrupts, and the global function(s) can call a function inside the class.
 * The following macros makes it easy to make the global function(s).
 *
 * Put IRAM_ATTR keyword before macro when calling on esp32
 */
#define jENCODER_MAKE_ISR_MACRO(name) \
    void name##_jENCODER_ISR() { name.encoderISR(); }
 
/* \def
 * Functions called by interrupts can't expect parameters or be functions of classes so a workaround is needed to use interrupts in a class.
 * The workaround that's used here is global functions need to be made when a new instance of this class is made.
 * The global function(s) get used when attaching interrupts, and the global function(s) can call a function inside the class.
 * The following macros makes it easy to make the global function(s).
 *
 * Put IRAM_ATTR keyword before macro when calling on esp32
 */
#define jENCODER_MAKE_ISRS_MACRO(name)            \
    void name##_jENCODER_ISR_A() { name.ISRA(); } \
    void name##_jENCODER_ISR_B() { name.ISRB(); }
 
class JEncoder {
public:
    virtual void setRev(bool _rev)
    {
    }
    virtual long zeroCounter();
 
    virtual float getVel();
 
    virtual long getCounter();
 
    virtual float getPos();
 
    virtual float getDistPerCountFactor();
 
    virtual void setDistPerCountFactor(float _factor);
 
    virtual bool hasDirection();
 
    virtual bool isVelNew();
 
    virtual void run();
};
#if (defined(ESP32) || defined(CORE_TEENSY) || defined(SAMD_SERIES) || defined(ESP8266) || defined(JMOTOR_ENCODER_FORCE_ATTACHINTERRUPT)) && !defined(JMOTOR_ENCODER_FORCE_PINCHANGE)
#include "JEncoderPWMAbsoluteAttachInterrupt.h"
#include "JEncoderQuadratureAttachInterrupt.h"
#include "JEncoderSingleAttachInterrupt.h"
#else
#include "JEncoderPWMAbsolutePinChange.h"
#include "JEncoderQuadraturePinChange.h"
#include "JEncoderSinglePinChange.h"
#endif
#include "JEncoderAS5048bI2C.h"
#include "JEncoderAS5600I2C.h"
#include "JEncoderBSED.h"
 
#endif // J_ENCODER_H