incremental_encoder.hpp

[詳解]

#pragma once
 
#include <cstdint>
 
#include "tutrcos/peripheral/tim.hpp"
#include "tutrcos/utility.hpp"
 
#include "encoder_base.hpp"
 
namespace tutrcos {
namespace module {
 
class IncrementalEncoder : public EncoderBase {
public:
  IncrementalEncoder(peripheral::TIM &tim, int16_t ppr)
      : EncoderBase{ppr * 4}, tim_{tim} {
    TUTRCOS_VERIFY(tim_.start_encoder(TIM_CHANNEL_ALL));
  }
 
  ~IncrementalEncoder() { TUTRCOS_VERIFY(tim_.stop_encoder(TIM_CHANNEL_ALL)); }
 
  void update() {
    int16_t delta = tim_.get_counter();
    tim_.set_counter(0);
    count_ += delta;
    set_count(count_);
  }
 
private:
  peripheral::TIM &tim_;
  int64_t count_ = 0;
};
 
} // namespace module
} // namespace tutrcos