Encoder class refactoring

Author: leonardocavagnis

examples/Encoders/Encoders.ino

@@ -1,7 +1,5 @@
 #include <Arduino_MachineControl.h>
 
-using namespace machinecontrol;
-
 void setup() {
   Serial.begin(9600);
   while (!Serial);
@@ -10,19 +8,19 @@ void setup() {
 void loop() {
   // put your main code here, to run repeatedly:
   Serial.print("Encoder 0 State: ");
-  Serial.println(encoders[0].getCurrentState(),BIN);
+  Serial.println(MachineControl_Encoders[0].getCurrentState(),BIN);
   Serial.print("Encoder 0 Pulses: ");
-  Serial.println(encoders[0].getPulses());
+  Serial.println(MachineControl_Encoders[0].getPulses());
   Serial.print("Encoder 0 Revolutions: ");
-  Serial.println(encoders[0].getRevolutions());
+  Serial.println(MachineControl_Encoders[0].getRevolutions());
   Serial.println();
 
   Serial.print("Encoder 1 State: ");
-  Serial.println(encoders[1].getCurrentState(),BIN);
+  Serial.println(MachineControl_Encoders[1].getCurrentState(),BIN);
   Serial.print("Encoder 1 Pulses: ");
-  Serial.println(encoders[1].getPulses());
+  Serial.println(MachineControl_Encoders[1].getPulses());
   Serial.print("Encoder 1 Revolutions: ");
-  Serial.println(encoders[1].getRevolutions());
+  Serial.println(MachineControl_Encoders[1].getRevolutions());
   Serial.println();
   delay(25);
 }

src/Arduino_MachineControl.h

@@ -20,6 +20,7 @@
 #include "TempProbesClass.h"
 #include "RtcControllerClass.h"
 #include "USBClass.h"
+#include "EncoderClass.h"
 
 namespace machinecontrol {
 
@@ -95,39 +96,5 @@ class COMMClass {
 
 extern COMMClass comm_protocols;
 
-/* 
-  TODO: writeme 
-  Use QEI library for mbed since it implements index pin
-*/
- /**
- * The EncoderClass is a wrapper for manipulating Quadrature Encoder Interface devices.
- */
-class EncoderClass {
-public:
-  /**
-	 * returns the encoder variable depending on the index
-	 * @param  index integer for selecting the encoder (0 or 1)
-	 * @return enc_0 for index = 0, enc_1 for index = 1
-	 */
-	EncoderClass()
-		: enc_0{PJ_8, PH_12, PH_11, 0}
-		, enc_1{PC_13, PI_7, PJ_10, 0} {};
-
-
-	QEI& operator[](int index) {
-		switch (index) {
-			case 0:
-				return enc_0;
-			case 1:
-				return enc_1;
-		}
-	}
-private:
-	QEI enc_0;
-	QEI enc_1;
-};
-
-extern EncoderClass encoders;
-
 }
 #endif

src/EncoderClass.cpp

@@ -0,0 +1,33 @@
+/**
+ * @file EncoderClass.cpp
+ * @author Leonardo Cavagnis
+ * @brief Source file for the EncoderClass of the Portenta Machine Control.
+ */
+
+/* Includes -----------------------------------------------------------------*/
+#include "EncoderClass.h"
+
+/* Functions -----------------------------------------------------------------*/
+EncoderClass::EncoderClass(PinName enc0_A_pin, PinName enc0_B_pin, PinName enc0_I_pin,
+                           PinName enc1_A_pin, PinName enc1_B_pin, PinName enc1_I_pin)
+    : enc_0(enc0_A_pin, enc0_B_pin, enc0_I_pin, 0),
+      enc_1(enc1_A_pin, enc1_B_pin, enc1_I_pin, 0) 
+{ }
+
+EncoderClass::~EncoderClass()
+{ }
+
+QEI& EncoderClass::operator[](int index) {
+    switch (index) {
+        case 0:
+            return enc_0;
+        case 1:
+            return enc_1;
+        default:
+            // Return encoder 0 by default if an invalid index is provided
+            return enc_0;
+    }
+}
+
+EncoderClass MachineControl_Encoders;
+/**** END OF FILE ****/

src/EncoderClass.h

@@ -0,0 +1,68 @@
+/**
+ * @file EncoderClass.h
+ * @author Leonardo Cavagnis
+ * @brief Header file for the EncoderClass of the Portenta Machine Control.
+ *
+ * This library provides a class to manage the Quadrature Encoder Interface devices
+ * of the Portenta Machine Control. It allows interfacing with two encoders through
+ * the QEI (Quadrature Encoder Interface) library and provides methods to access
+ * and control each encoder individually.
+ */
+
+#ifndef __ENCODER_CLASS_H
+#define __ENCODER_CLASS_H
+
+/* Includes -------------------------------------------------------------------*/
+#include "utility/QEI/QEI.h"
+#include <Arduino.h>
+#include <mbed.h>
+
+/* Class ----------------------------------------------------------------------*/
+
+/**
+ * @class EncoderClass
+ * @brief Class for managing Quadrature Encoder Interface devices of the Portenta Machine Control.
+ */
+class EncoderClass {
+public:
+    /**
+     * @brief Construct an EncoderClass object.
+     *
+     * This constructor initializes the two QEI objects for encoder 0 and encoder 1
+     * with the specified pin assignments.
+     *
+     * @param enc0_A_pin Pin assignment for encoder 0 channel A (default: PA_0).
+     * @param enc0_B_pin Pin assignment for encoder 0 channel B (default: PB_0).
+     * @param enc0_I_pin Pin assignment for encoder 0 Index channel (default: PC_0).
+     * @param enc1_A_pin Pin assignment for encoder 1 channel A (default: PD_0).
+     * @param enc1_B_pin Pin assignment for encoder 1 channel B (default: PE_0).
+     * @param enc1_I_pin Pin assignment for encoder 1 Index channel (default: PF_0).
+     */
+    EncoderClass(PinName enc0_A_pin = PJ_8, PinName enc0_B_pin = PH_12, PinName enc0_I_pin = PH_11,
+                 PinName enc1_A_pin = PC_13, PinName enc1_B_pin = PI_7, PinName enc1_I_pin = PJ_10);
+
+    /**
+     * @brief Destruct the EncoderClass object.
+     *
+     * This destructor releases any resources used by the EncoderClass object.
+     */
+    ~EncoderClass();
+
+    /**
+     * @brief Get the QEI object for the specified encoder index.
+     *
+     * This method returns a reference to the QEI object for the specified encoder index.
+     *
+     * @param index The index for selecting the encoder (0 or 1).
+     * @return A reference to the corresponding QEI object.
+     */
+    QEI& operator[](int index);
+
+private:
+    QEI enc_0;  // QEI object for encoder 0
+    QEI enc_1;  // QEI object for encoder 1
+};
+
+extern EncoderClass MachineControl_Encoders;
+
+#endif /* __ENCODER_CLASS_H */

src/Objects.cpp

@@ -2,6 +2,5 @@
 
 namespace machinecontrol {
 COMMClass comm_protocols;
-EncoderClass encoders;
 USBClass usb_controller;
 }