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This repository was archived by the owner on Feb 28, 2024. It is now read-only.

Update ArduinoIOExpander.cpp#82

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29 changes: 26 additions & 3 deletionssrc/utility/QEI/QEI.cpp
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Original file line numberDiff line numberDiff line change
Expand Up@@ -152,7 +152,9 @@ QEI::QEI(PinName channelA,
//X4 encoding uses interrupts on channel A,
//and on channel B.
channelA_.rise(mbed::callback(this, &QEI::encode));
channelA_.fall(mbed::callback(this, &QEI::encode));
if(encoding != X1_ENCODING){
channelA_.fall(mbed::callback(this, &QEI::encode));
}

//If we're using X4 encoding, then attach interrupts to channel B too.
if (encoding == X4_ENCODING) {
Expand DownExpand Up@@ -191,6 +193,20 @@ int QEI::getRevolutions(void) {

}

// +-------------+
// | X1 Encoding |
// +-------------+
//
// When observing states two patterns will appear:
//
// Counter clockwise rotation:
//
// 10 -> 10 -> 10 -> 10 -> ...
//
// Clockwise rotation:
//
// 11 -> 11 -> 11 -> ...
//
// +-------------+
// | X2 Encoding |
// +-------------+
Expand DownExpand Up@@ -243,8 +259,15 @@ void QEI::encode(void) {

//2-bit state.
currState_ = (chanA << 1) | (chanB);

if (encoding_ == X2_ENCODING) {

if(encoding_ == X1_ENCODING){
if(currState_ == 0x3){
pulses_++;
}
if(currState_ == 0x2){
pulses_--;
}
} else if (encoding_ == X2_ENCODING) {

//11->00->11->00 is counter clockwise rotation or "forward".
if ((prevState_ == 0x3 && currState_ == 0x0) ||
Expand Down
2 changes: 1 addition & 1 deletionsrc/utility/QEI/QEI.h
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Original file line numberDiff line numberDiff line change
Expand Up@@ -148,7 +148,7 @@ class QEI {
public:

typedef enum Encoding {

X1_ENCODING,
X2_ENCODING,
X4_ENCODING

Expand Down
14 changes: 14 additions & 0 deletionssrc/utility/ioexpander/ArduinoIOExpander.cpp
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Original file line numberDiff line numberDiff line change
Expand Up@@ -103,6 +103,20 @@ void ArduinoIOExpanderClass::initPins()
{

if (_tca.getAddress() == IO_ADD) {
PinStatus status = SWITCH_OFF;
set(IO_WRITE_CH_PIN_00, status);
set(IO_WRITE_CH_PIN_01, status);
set(IO_WRITE_CH_PIN_02, status);
set(IO_WRITE_CH_PIN_03, status);
set(IO_WRITE_CH_PIN_04, status);
set(IO_WRITE_CH_PIN_05, status);
set(IO_WRITE_CH_PIN_06, status);
set(IO_WRITE_CH_PIN_07, status);
set(IO_WRITE_CH_PIN_08, status);
set(IO_WRITE_CH_PIN_09, status);
set(IO_WRITE_CH_PIN_10, status);
set(IO_WRITE_CH_PIN_11, status);

pinMode(IO_WRITE_CH_PIN_00, OUTPUT);
pinMode(IO_WRITE_CH_PIN_01, OUTPUT);
pinMode(IO_WRITE_CH_PIN_02, OUTPUT);
Expand Down
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