encoder.hpp

[詳解]

#pragma once
 
#include "main.h"
 
#include <cstdint>
 
namespace tutrc_harurobo_lib {
 
class Encoder {
public:
  bool init(TIM_HandleTypeDef *htim, uint16_t ppr, float period);
  void update();
  float get_rps();
  float get_rpm();
  float get_position();
 
private:
  TIM_HandleTypeDef *htim_;
  uint16_t ppr_;
  float period_;
 
  int64_t count_ = 0;
  float rps_;
  float position_;
};
 
} // namespace tutrc_harurobo_lib