incremental_encoder.hpp

[詳解]

#pragma once
 
#include <cstdint>
 
#include <halx/core.hpp>
 
namespace halx::driver {
 
class IncrementalEncoder {
public:
  IncrementalEncoder(TIM_HandleTypeDef *htim) : htim_{htim} {
    HAL_TIM_Encoder_Start(htim_, TIM_CHANNEL_ALL);
  }
 
  ~IncrementalEncoder() { HAL_TIM_Encoder_Stop(htim_, TIM_CHANNEL_ALL); }
 
  void update() {
    int16_t delta = __HAL_TIM_GET_COUNTER(htim_);
    __HAL_TIM_SET_COUNTER(htim_, 0);
    position_ += delta;
  }
 
  int64_t get_position() { return position_; }
 
private:
  TIM_HandleTypeDef *htim_;
  int64_t position_ = 0;
};
 
} // namespace halx::driver