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

#include <JEncoderSingleAttachInterrupt.h>

Inheritance diagram for JEncoderSingleAttachInterrupt:

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Collaboration diagram for JEncoderSingleAttachInterrupt:

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Public Member Functions
	JEncoderSingleAttachInterrupt (byte _encoderPin, float _distPerCountFactor=1.0, bool _reverse=false, unsigned long _slowestIntervalMicros=100000UL, unsigned long _switchBounceIntervalMicros=0, byte _interruptType=CHANGE)
	constructor, sets pins and settings

void	setUpInterrupts (void(*_isrPointer)(void))

void	turnOffInterrupts ()
	disable interrupts and stop monitoring encoder

Public Member Functions inherited from JEncoderSingle
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)

Additional Inherited Members
Protected Member Functions inherited from JEncoderSingle
	JEncoderSingle (byte _encoderPin, float _distPerCountFactor, bool _reverse, unsigned long _slowestIntervalMicros, unsigned long _switchBounceIntervalMicros, byte _interruptType)
	constructor, sets pins and settings

Protected Attributes inherited from JEncoderSingle
unsigned char	encoderPin

byte	interruptType

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

◆ JEncoderSingleAttachInterrupt()

JEncoderSingleAttachInterrupt::JEncoderSingleAttachInterrupt	(	byte	_encoderPin,
		float	_distPerCountFactor = `1.0`,
		bool	_reverse = `false`,
		unsigned long	_slowestIntervalMicros = `100000UL`,
		unsigned long	_switchBounceIntervalMicros = `0`,
		byte	_interruptType = `CHANGE`
	)

inline

constructor, sets pins and settings

Parameters

_encoderPin	encoder input pin, or, if they are different, interrupt number
_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	counts on RISING, FALLING, or CHANGE interrupt

Member Function Documentation

◆ setUpInterrupts()

void JEncoderSingleAttachInterrupt::setUpInterrupts ( void(*)(void) _isrPointer )

inlinevirtual

Note: interrupt created by jENCODER_SINGLE_MAKE_ISR_MACRO(name of encoder) will be of the form <name of encoder instance>_jENCODER_ISR

Reimplemented from JEncoderSingle.

◆ turnOffInterrupts()

void JEncoderSingleAttachInterrupt::turnOffInterrupts ( )

inlinevirtual

disable interrupts and stop monitoring encoder

Note: use setUpInterrupts to start encoder again