uses attachInterrupt() platform: esp32, teensy (could be used with standard avr arduinos but only with pins that support attachInterrupt()) More...

#include <JEncoderQuadratureAttachInterrupt.h>

Inheritance diagram for JEncoderQuadratureAttachInterrupt:

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Collaboration diagram for JEncoderQuadratureAttachInterrupt:

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Public Member Functions
	JEncoderQuadratureAttachInterrupt (byte _encoderAPin, byte _encoderBPin, float _distPerCountFactor=1.0, bool _reverse=false, unsigned long _slowestIntervalMicros=100000UL)
	constructor, sets pins and settings

void	setUpInterrupts (void(_isrAPointer)(void), void(_isrBPointer)(void))
	set up pins and interrupts

void	turnOffInterrupts ()
	disable interrupts and stop monitoring encoder

Public Member Functions inherited from JEncoderQuadrature
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)

void	ISRA (void)

void	ISRB (void)

Public Member Functions inherited from JEncoder
virtual void	setRev (bool _rev)
	empty function for directionless encoders to override

Additional Inherited Members
Protected Member Functions inherited from JEncoderQuadrature
	JEncoderQuadrature (byte _encoderAPin, byte _encoderBPin, float _distPerCountFactor=1.0, bool _reverse=false, unsigned long _slowestIntervalMicros=100000UL)
	constructor, sets pins and settings

Protected Attributes inherited from JEncoderQuadrature
byte	encoderAPin

byte	encoderBPin

Detailed Description

uses attachInterrupt() platform: esp32, teensy (could be used with standard avr arduinos but only with pins that support attachInterrupt())

Note: make sure to call setUpInterrupts() when your code starts

Constructor & Destructor Documentation

◆ JEncoderQuadratureAttachInterrupt()

JEncoderQuadratureAttachInterrupt::JEncoderQuadratureAttachInterrupt	(	byte	_encoderAPin,
		byte	_encoderBPin,
		float	_distPerCountFactor = `1.0`,
		bool	_reverse = `false`,
		unsigned long	_slowestIntervalMicros = `100000UL`
	)

inline

constructor, sets pins and settings

Parameters

_encoderAPin	one channel of quadrature encoder
_encoderBPin	other channel of quadrature encoder
_distPerCountFactor	conversion factor for getting distance in an actual unit
_reverse	false(default)
_slowestIntervalMicros	after this many microseconds without an encoder tick velocity is set to zero.

Member Function Documentation

◆ setUpInterrupts()

void JEncoderQuadratureAttachInterrupt::setUpInterrupts	(	void(*)(void)	_isrAPointer,
		void(*)(void)	_isrBPointer
	)

inlinevirtual

set up pins and interrupts

Parameters

_isrAPointer	global function that calls internal ISRA, to use with enableInterrupt
_isrBPointer	global function that calls internal ISRB, to use with enableInterrupt

Reimplemented from JEncoderQuadrature.

◆ turnOffInterrupts()

void JEncoderQuadratureAttachInterrupt::turnOffInterrupts ( )

inlinevirtual

disable interrupts and stop monitoring encoder

Note: use setUpInterrupts to start encoder again