JEncoderBSED Class Reference

reads a quadrature (incremental) encoder that is connected to a Byte Sized Encoder Decoder board connected over I2C to the main controller More...

#include <JEncoderBSED.h>

Inheritance diagram for JEncoderBSED:

Collaboration diagram for JEncoderBSED:

Public Member Functions
	JEncoderBSED (ByteSizedEncoderDecoder &_bsed, byte _encoderChannel, bool _reverse=false, float _distPerCountFactor=1.0, int16_t _slowestIntervalMicros=0, int16_t _encoderEnoughCounts=0)
	constructor, sets pins and settings
long	zeroCounter ()
	reset the counter of how far the encoder has turned
float	getVel ()
	calculates velocity in distance per second where distance was set by setdistPerCountFactor()
long	getCounter ()
	returns how far the encoder has turned from the zero position
float	getPos ()
	returns how far the encoder has turned from the zero position converted to distance
float	getDistPerCountFactor ()
	returns a conversion factor between encoder ticks and distance that can be set for the encoder
void	setDistPerCountFactor (float _factor)
	set the conversion factor between encoder ticks and distance
void	setReverse (bool _reverse)
	reverse readings of encoder
bool	hasDirection ()
	can this encoder measure direction or just speed
bool	isVelNew ()
	could be useful for only recalculating a control loop if there's new velocity data
void	run ()
	if an encoder needs to have some code called each loop (like absolute encoder polling encoder and calculating amount turned)
Public Member Functions inherited from JEncoder
virtual void	setRev (bool _rev)
	empty function for directionless encoders to override

Protected Attributes
ByteSizedEncoderDecoder &	bsed
byte	encoderChannel
float	distPerCountFactor
int8_t	reverse
int32_t	zeroVal

Detailed Description

reads a quadrature (incremental) encoder that is connected to a Byte Sized Encoder Decoder board connected over I2C to the main controller

Constructor & Destructor Documentation

JEncoderBSED()

JEncoderBSED::JEncoderBSED ( ByteSizedEncoderDecoder &  _bsed, byte  _encoderChannel, bool  _reverse = false, float  _distPerCountFactor = 1.0, int16_t  _slowestIntervalMicros = 0, int16_t  _encoderEnoughCounts = 0  )

inline

constructor, sets pins and settings

Note

Parameters

_bsed	instance of BSED class
_encoderChannel	channel of encoder on BSED (1-8)
_reverse	false(default)
_distPerCountFactor	conversion factor for getting distance in an actual unit
_slowestIntervalMicros	after this many microseconds without an encoder tick velocity is set to zero.
_encoderEnoughCounts	enough counts to calculate velocity from

Member Function Documentation

getCounter()

long JEncoderBSED::getCounter ( )

inlinevirtual

returns how far the encoder has turned from the zero position

Note

remember that variables overflow

Return values

(long)

encoder ticks

Reimplemented from JEncoder.

getDistPerCountFactor()

float JEncoderBSED::getDistPerCountFactor ( )

inlinevirtual

returns a conversion factor between encoder ticks and distance that can be set for the encoder

Note

default is 1.0

Return values

(float)

distPerCountFactor

Reimplemented from JEncoder.

getPos()

float JEncoderBSED::getPos ( )

inlinevirtual

returns how far the encoder has turned from the zero position converted to distance

Note

remember that variables overflow (counter) and that floats have limited precision

Return values

(float)

encoder ticks converted to distance

Reimplemented from JEncoder.

getVel()

float JEncoderBSED::getVel ( )

inlinevirtual

calculates velocity in distance per second where distance was set by setdistPerCountFactor()

Return values

(float)

velocity

Reimplemented from JEncoder.

hasDirection()

bool JEncoderBSED::hasDirection ( )

inlinevirtual

can this encoder measure direction or just speed

Return values

(bool)

true = can measure direction

Reimplemented from JEncoder.

isVelNew()

bool JEncoderBSED::isVelNew ( )

inlinevirtual

could be useful for only recalculating a control loop if there's new velocity data

Return values

(bool)

true if velocity has changed since this function was last called

Reimplemented from JEncoder.

run()

void JEncoderBSED::run ( )

inlinevirtual

if an encoder needs to have some code called each loop (like absolute encoder polling encoder and calculating amount turned)

Note

interrupt based encoders don't need this to do anything and can define an empty function

Reimplemented from JEncoder.

setDistPerCountFactor()

void JEncoderBSED::setDistPerCountFactor ( float  _factor )

inlinevirtual

set the conversion factor between encoder ticks and distance

Parameters

_factor

(float)

Reimplemented from JEncoder.

setReverse()

void JEncoderBSED::setReverse ( bool  _reverse )

inline

reverse readings of encoder

Parameters

_reverse

whether to invert sign of readings

Return values

None

zeroCounter()

long JEncoderBSED::zeroCounter ( )

inlinevirtual

reset the counter of how far the encoder has turned

Return values

(long)

returns value of counter before it is reset

Reimplemented from JEncoder.

Member Data Documentation

bsed

ByteSizedEncoderDecoder& JEncoderBSED::bsed

protected

distPerCountFactor

float JEncoderBSED::distPerCountFactor

protected

encoderChannel

byte JEncoderBSED::encoderChannel

protected

reverse

int8_t JEncoderBSED::reverse

protected

zeroVal

int32_t JEncoderBSED::zeroVal

protected

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

• src/JEncoder/JEncoderBSED.h