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This driver was developed for the DFRobot Wheel Encoder, though it could be used for any counting time-based task using a digital i/o pin to generate interrupts. http://www.dfrobot.com/index.php?route=product/product&product_id=98 If you want to use more than one encoder, simply create a class instance for each one. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: sisinty sasmita patra <sisinty.s.patra@intel.com>
70 lines
1.9 KiB
C++
70 lines
1.9 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include <signal.h>
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#include "wheelencoder.h"
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using namespace std;
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int shouldRun = true;
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void sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int main()
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate a DFRobot Wheel Encoder on digital pin D2
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upm::WheelEncoder* sensor = new upm::WheelEncoder(2);
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// set the counter to 0 and start counting
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sensor->clearCounter();
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sensor->startCounter();
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while (shouldRun)
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{
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// output milliseconds passed and current sensor count
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cout << "Millis: " << sensor->getMillis() << " Count: "
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<< sensor->counter() << endl;
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sleep(1);
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}
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sensor->stopCounter();
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//! [Interesting]
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cout << "Exiting..." << endl;
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delete sensor;
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return 0;
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}
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