myRIO::Encoder Class Reference

Embedded encoder. More...

#include <Encoder.h>

Public Member Functions
	Encoder (uint8_t channel)
	Create an Encoder Enable channel A or B encoder. More...
void	read (uint32_t &enc)
	Read encoder Reads the value of the encoder. More...
void	direction (bool &dir)
	Return the direction of the motor (CCW -> 0, CW -> 1) More...
void	startThread (std::function< void(long enc, bool dir)> func, unsigned int threshold)
	Start a thread that will monitor the encoder register. More...
void	stopThread ()
	Stop the encoder thread. More...
	~Encoder ()
	Destructeur Stop the encoder and disable it. More...

Private Attributes
std::thread *	th
bool *	run
uint32_t	regCnfg
uint32_t	regCntr
uint32_t	regStat

Detailed Description

Embedded encoder.

Definition at line 20 of file Encoder.h.

Constructor & Destructor Documentation

Encoder()

Encoder::Encoder

(

uint8_t

channel

)

Create an Encoder Enable channel A or B encoder.

There is also an Encoder on channel C which can be added.

Parameters

channel

one of ENCA, ENCB

Definition at line 12 of file Encoder.cpp.

~Encoder()

Encoder::~Encoder

(

)

Destructeur Stop the encoder and disable it.

Definition at line 92 of file Encoder.cpp.

Member Function Documentation

direction()

void Encoder::direction

(

bool &

dir

)

Return the direction of the motor (CCW -> 0, CW -> 1)

Definition at line 51 of file Encoder.cpp.

read()

void Encoder::read

(

uint32_t &

enc

)

Read encoder Reads the value of the encoder.

Parameters

enc	the encoder address

Definition at line 44 of file Encoder.cpp.

startThread()

void Encoder::startThread	(	std::function< void(long enc, bool dir)>	func,
		unsigned int	threshold
	)

Start a thread that will monitor the encoder register.

It will alert the user if a given threshold is reached, executing the given function. The threshold is a variation since the last threshold reach (or 0 if none have been reached) 1 increment ~ 0.58°,

See also

MotorPID::toAngularSpeed

Parameters

func	a function to execute when threshold is reached
threshold	the number of increments before executing the function

Definition at line 65 of file Encoder.cpp.

stopThread()

void Encoder::stopThread

(

)

Stop the encoder thread.

Definition at line 85 of file Encoder.cpp.

Member Data Documentation

regCnfg

uint32_t myRIO::Encoder::regCnfg

private

Definition at line 32 of file Encoder.h.

regCntr

uint32_t myRIO::Encoder::regCntr

private

Definition at line 33 of file Encoder.h.

regStat

uint32_t myRIO::Encoder::regStat

private

Definition at line 34 of file Encoder.h.

run

bool* myRIO::Encoder::run

private

Definition at line 31 of file Encoder.h.

th

std::thread* myRIO::Encoder::th

private

Definition at line 30 of file Encoder.h.

---

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

• C:/Users/jackb/OneDrive - etu.univ-lyon1.fr/TERi/Eclipse/workspace/APIForRIO/src/Encoder.h
• C:/Users/jackb/OneDrive - etu.univ-lyon1.fr/TERi/Eclipse/workspace/APIForRIO/src/Encoder.cpp