Arduino_Robot/Encoder.cpp at master · Christiaan2/Arduino_Robot · GitHub

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//
//
//

#include "Encoder.h"

Encoder::Encoder(int encoderPin)
	: encoderPin(encoderPin), encoderTicks(0), prevEncoderTicks(0)
{
	pinMode(encoderPin, INPUT);
}

void Encoder::updateEncoder()
{
	encoderTicks++;
}

int Encoder::calcSpeed()
{
	speed = int(encoderTicks - prevEncoderTicks);
	prevEncoderTicks = encoderTicks;
	return speed;
}

int Encoder::getSpeed()
{
	return speed;
}

Encoder* Encoder::getPointer()
{
	return this;
}

void Encoder::reset()
{
	encoderTicks = 0;
	prevEncoderTicks = 0;

	//speed = 0;///NOT SURE ABOUT THIS
	//Maybe reset also the speed
}

long Encoder::getEncoderTicks()
{
	return encoderTicks;
}

long Encoder::getPrevEncoderTicks()
{
	return prevEncoderTicks;
}