JEncoderSingle Class Reference

reads a single channel (incremental) encoder More...

#include <JEncoderSingle.h>

Inheritance diagram for JEncoderSingle:

Collaboration diagram for JEncoderSingle:

Public Member Functions
bool	getRev ()
	get whether the encoder is told it's going backwards currently
void	setRev (bool _rev)
	set which direction the encoder is moving (if you have external information about direction (like motor power) and want getVel and getDist to go the right direction even with this directionless encoder)
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	encoderISR (void)

Protected Member Functions
	JEncoderSingle (byte _encoderPin, float _distPerCountFactor, bool _reverse, unsigned long _slowestIntervalMicros, unsigned long _switchBounceIntervalMicros, byte _interruptType)
	constructor, sets pins and settings
virtual void	setUpInterrupts (void(*_isrPointer)(void))
	set up pins and interrupts
virtual void	turnOffInterrupts ()
	disable interrupts and stop monitoring encoder

Protected Attributes
unsigned char	encoderPin
byte	interruptType

Detailed Description

reads a single channel (incremental) encoder

direction can't be calculated with a single channel encoder, only speed can be.
speed calculation is done by measuring time between 2 encoder ticks (not between every tick since encoders may not have evenly spaced ticks)
velocity is set to zero if the encoder has not turned in slowestIntervalMicros

Note

don't use this class directly, use a subclass

Constructor & Destructor Documentation

JEncoderSingle()

JEncoderSingle::JEncoderSingle ( byte  _encoderPin, float  _distPerCountFactor, bool  _reverse, unsigned long  _slowestIntervalMicros, unsigned long  _switchBounceIntervalMicros, byte  _interruptType  )

inlineprotected

constructor, sets pins and settings

Parameters

_encoderPin	encoder input pin
_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.
_switchBounceIntervalMicros	ignore additional pulses for this many microseconds after each pulse
_interruptType	CHANGE, RISING, FALLING

Member Function Documentation

encoderISR()

void JEncoderSingle::encoderISR ( void  )

inline

getCounter()

long JEncoderSingle::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 JEncoderSingle::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 JEncoderSingle::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.

getRev()

bool JEncoderSingle::getRev ( )

inline

get whether the encoder is told it's going backwards currently

Return values

(bool)

getVel()

float JEncoderSingle::getVel ( )

inlinevirtual

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

Return values

(float)

velocity

Reimplemented from JEncoder.

hasDirection()

bool JEncoderSingle::hasDirection ( )

inlinevirtual

can this encoder measure direction or just speed

Return values

(bool)

true = can measure direction

Reimplemented from JEncoder.

isVelNew()

bool JEncoderSingle::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 JEncoderSingle::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 JEncoderSingle::setDistPerCountFactor ( float  _factor )

inlinevirtual

set the conversion factor between encoder ticks and distance

Parameters

_factor

(float)

Reimplemented from JEncoder.

setRev()

void JEncoderSingle::setRev ( bool  _rev )

inlinevirtual

set which direction the encoder is moving (if you have external information about direction (like motor power) and want getVel and getDist to go the right direction even with this directionless encoder)

Parameters

_rev	(bool) false=forwards true=backwards

Reimplemented from JEncoder.

setReverse()

void JEncoderSingle::setReverse ( bool  _reverse )

inline

reverse readings of encoder

Parameters

_reverse

whether to invert sign of readings

Return values

None

setUpInterrupts()

virtual void JEncoderSingle::setUpInterrupts ( void(*)(void)  _isrPointer )

protectedvirtual

set up pins and interrupts

Parameters

_isrPointer

global function that calls internal ISRA to use with enableInterrupt

Reimplemented in JEncoderSingleAttachInterrupt, and JEncoderSinglePinChange.

turnOffInterrupts()

virtual void JEncoderSingle::turnOffInterrupts ( )

protectedvirtual

disable interrupts and stop monitoring encoder

Note

use setUpInterrupts to start encoder again

Reimplemented in JEncoderSingleAttachInterrupt, and JEncoderSinglePinChange.

zeroCounter()

long JEncoderSingle::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

encoderPin

unsigned char JEncoderSingle::encoderPin

protected

interruptType

byte JEncoderSingle::interruptType

protected

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

• src/JEncoder/JEncoderSingle.h