Passer::RoboidControl::IncrementalEncoder Class Reference

An Encoder measures the rotations of an axle using a rotary sensor Some encoders are able to detect direction, while others can not. More...

#include <IncrementalEncoder.h>

Public Member Functions
	IncrementalEncoder (unsigned char pulsesPerRevolution=1, unsigned char distancePerRevolution=1)
	Creates a sensor which measures distance from pulses.
virtual int	GetPulseCount ()
	Get the total number of pulses since the previous call.
virtual float	GetPulsesPerSecond (float currentTimeMs)
	Get the pulse speed since the previous call.
virtual float	GetDistance ()
	Get the distance traveled since the previous call.
virtual float	GetRevolutionsPerSecond (float currentTimeMs)
	Get the rotation speed since the previous call.
virtual float	GetSpeed (float currentTimeMs)
	Get the speed since the previous call.

Public Attributes
unsigned char	pulsesPerRevolution = 1
	The numer of pulses corresponding to a full rotation of the axle.
unsigned char	distancePerRevolution = 1
	The number of revolutions which makes the wheel move forward 1 meter.

Detailed Description

An Encoder measures the rotations of an axle using a rotary sensor Some encoders are able to detect direction, while others can not.

Constructor & Destructor Documentation

IncrementalEncoder()

IncrementalEncoder::IncrementalEncoder	(	unsigned char	pulsesPerRevolution = 1,
		unsigned char	distancePerRevolution = 1
	)

Creates a sensor which measures distance from pulses.

Parameters

pulsesPerRevolution	The number of pulse edges which make a full rotation
distancePerRevolution	The distance a wheel travels per full rotation

Member Function Documentation

GetPulseCount()

int IncrementalEncoder::GetPulseCount ( )

virtual

Get the total number of pulses since the previous call.

Returns

The number of pulses, is zero or greater

GetPulsesPerSecond()

float IncrementalEncoder::GetPulsesPerSecond ( float  currentTimeMs )

virtual

Get the pulse speed since the previous call.

Parameters

currentTimeMs

The clock time in milliseconds

Returns

The average pulses per second in the last period.

GetDistance()

float IncrementalEncoder::GetDistance ( )

virtual

Get the distance traveled since the previous call.

Returns

The distance in meters.

GetRevolutionsPerSecond()

float IncrementalEncoder::GetRevolutionsPerSecond ( float  currentTimeMs )

virtual

Get the rotation speed since the previous call.

Parameters

currentTimeMs

The clock time in milliseconds

Returns

The speed in rotations per second

GetSpeed()

float IncrementalEncoder::GetSpeed ( float  currentTimeMs )

virtual

Get the speed since the previous call.

Parameters

currentTimeMs

The clock time in milliseconds

Returns

The speed in meters per second.

Note

this value is dependent on the accurate setting of the pulsesPerRevolution and distancePerRevolution parameters;

Member Data Documentation

pulsesPerRevolution

unsigned char Passer::RoboidControl::IncrementalEncoder::pulsesPerRevolution = 1

The numer of pulses corresponding to a full rotation of the axle.

distancePerRevolution

unsigned char Passer::RoboidControl::IncrementalEncoder::distancePerRevolution = 1

The number of revolutions which makes the wheel move forward 1 meter.

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

• d:/PlatformIO/RoboidControl/IncrementalEncoder.h
• d:/PlatformIO/RoboidControl/IncrementalEncoder.cpp