EncoderAdapter Class Reference

#include <EncoderAdapter.h>

Inheritance diagram for EncoderAdapter:

Collaboration diagram for EncoderAdapter:

Public Member Functions
	EncoderAdapter (int channelA, int channelB, int ticksPerRev, Hardware hardware)
	~EncoderAdapter () override
void *	run () override
long	getCount ()
void	resetCount ()
double	getSpeedRPM ()
std::list< IMessage * > *	read () override
void	write (IMessage *message) override
Public Member Functions inherited from Thread
int	start ()
int	join ()
int	detach ()
void	signal (int signal)
pthread_t	self ()
Public Member Functions inherited from IHardwareInterface
virtual	~IHardwareInterface ()

Additional Inherited Members
Protected Attributes inherited from Thread
std::atomic< int >	m_signal

Detailed Description

Hardware adapter for the Pololu encoders. This class polls pins on the RaspberryPi, counts the number of ticks, and translates this data into a specific RPM. Periodically, the communicator requests the current RPM of the encoders to inject it into the EncoderSensor object. TODO: This class should translate the data into a specific velocity in cm/s

Definition at line 21 of file EncoderAdapter.h.

Constructor & Destructor Documentation

EncoderAdapter::EncoderAdapter	(	int	channelA,
		int	channelB,
		int	ticksPerRev,
		Hardware	hardware
	)

Counts a two-channel encoder.

Parameters

channelA	WiringPi Pin for channel A.
channelB	WiringPi Pin for channel B.
ticksPerRev	Number of ticks per revolution on this encoder.

Definition at line 4 of file EncoderAdapter.cpp.

EncoderAdapter::~EncoderAdapter ( )

override

Destructs the encoder counter.

Definition at line 19 of file EncoderAdapter.cpp.

Member Function Documentation

long EncoderAdapter::getCount

(

)

Get the current count from the encoder.

Returns

a long, the encoder count (+/-)

Definition at line 62 of file EncoderAdapter.cpp.

double EncoderAdapter::getSpeedRPM

(

)

Get the encoder current speed in RPM.

Returns

A speed in RPM.

Definition at line 81 of file EncoderAdapter.cpp.

std::list< IMessage * > * EncoderAdapter::read ( )

overridevirtual

Read a list containing a message with the current encoder count for this encoder, and a message with the current speed.

Returns

A message list object containing the count/speed for this encoder.

Implements IHardwareInterface.

Definition at line 72 of file EncoderAdapter.cpp.

void EncoderAdapter::resetCount

(

)

Reset the encoder count to 0.

Definition at line 67 of file EncoderAdapter.cpp.

void * EncoderAdapter::run ( )

overridevirtual

Runs the encoder counter worker thread.

Returns

nothing

Implements Thread.

Definition at line 24 of file EncoderAdapter.cpp.

void EncoderAdapter::write ( IMessage *  msg )

inlineoverridevirtual

Write a message to the peripheral. Deletes the message pointer.

Parameters

msg	A Message to be sent

Implements IHardwareInterface.

Definition at line 62 of file EncoderAdapter.h.

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

• include/hardwareinterface/EncoderAdapter.h
• src/hardwareinterface/EncoderAdapter.cpp