tap::encoder::WrappedEncoder Class Reference

#include <wrapped_encoder.hpp>

Inheritance diagram for tap::encoder::WrappedEncoder:

Collaboration diagram for tap::encoder::WrappedEncoder:

Public Member Functions
	WrappedEncoder (bool isInverted, uint32_t encoderResolution, float gearRatio=1, uint32_t encoderHomePosition=0)
void	initialize () override
tap::algorithms::WrappedFloat	getPosition () const override
mockable tap::algorithms::WrappedFloat	getEncoder () const
float	getVelocity () const override
void	alignWith (EncoderInterface *other) override
void	resetEncoderValue () override
Public Member Functions inherited from tap::encoder::EncoderInterface
virtual bool	isOnline () const =0

Protected Member Functions
void	updateEncoderValue (uint32_t encoderActual)

Protected Attributes
tap::algorithms::WrappedFloat	encoder
tap::algorithms::WrappedFloat	position
bool	inverted
const uint32_t	encoderResolution
const float	gearRatio

Detailed Description

Represents an encoder that reports its values as a wrapped number of ticks.

Constructor & Destructor Documentation

WrappedEncoder()

tap::encoder::WrappedEncoder::WrappedEncoder	(	bool	isInverted,
		uint32_t	encoderResolution,
		float	gearRatio = 1,
		uint32_t	encoderHomePosition = 0
	)

Parameters

isInverted	if false the positive rotation direction of the shaft is counter-clockwise when looking at the shaft from. If true then the positive rotation direction will be clockwise.
encoderResolution	the number of encoder ticks before the value wraps.
gearRatio	the ratio of input revolutions over output revolutions of this encoder.
encoderHomePosition	the zero position for the encoder in encoder ticks.

Member Function Documentation

alignWith()

void tap::encoder::WrappedEncoder::alignWith ( EncoderInterface *  other )

overridevirtual

Aligns this encoder to another encoder so that their positions are equal. If the two encoders are mechanically linked, they would then continue to report the same position.

Implements tap::encoder::EncoderInterface.

getEncoder()

mockable tap::algorithms::WrappedFloat tap::encoder::WrappedEncoder::getEncoder ( ) const

inline

Gets the raw encoder position.

getPosition()

tap::algorithms::WrappedFloat tap::encoder::WrappedEncoder::getPosition ( ) const

overridevirtual

Gets the current position of the encoder, in a wrapped float on the range [0, M_TWOPI)

Implements tap::encoder::EncoderInterface.

getVelocity()

float tap::encoder::WrappedEncoder::getVelocity ( ) const

overridevirtual

Gets the current velocity reported by the encoder. Returned in a value of radians / second

Implements tap::encoder::EncoderInterface.

initialize()

void tap::encoder::WrappedEncoder::initialize ( )

inlineoverridevirtual

Initialize the encoder. For instance: attaching a can receiver.

Implements tap::encoder::EncoderInterface.

resetEncoderValue()

void tap::encoder::WrappedEncoder::resetEncoderValue ( )

overridevirtual

Zeros the encoder to its current position. All encoder positions will be based from this position.

Implements tap::encoder::EncoderInterface.

updateEncoderValue()

void tap::encoder::WrappedEncoder::updateEncoderValue ( uint32_t  encoderActual )

protected

Updates the stored encoder value given a newly received encoder value special logic necessary for keeping track of unwrapped encoder value.

Member Data Documentation

encoder

tap::algorithms::WrappedFloat tap::encoder::WrappedEncoder::encoder

protected

The current encoder position.

encoderResolution

const uint32_t tap::encoder::WrappedEncoder::encoderResolution

protected

gearRatio

const float tap::encoder::WrappedEncoder::gearRatio

protected

inverted

bool tap::encoder::WrappedEncoder::inverted

protected

position

tap::algorithms::WrappedFloat tap::encoder::WrappedEncoder::position

protected

The encoder position converted into output rotations

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

• fang-mcb-project/taproot/src/tap/communication/sensors/encoder/wrapped_encoder.hpp
• fang-mcb-project/taproot/src/tap/communication/sensors/encoder/wrapped_encoder.cpp