Encoder: remove operator [] to access encoder channel

Author: leonardocavagnis

Diff for: examples/Encoders/Encoders.ino

@@ -8,19 +8,19 @@ void setup() {
 void loop() {
   // put your main code here, to run repeatedly:
   Serial.print("Encoder 0 State: ");
-  Serial.println(MachineControl_Encoders[0].getCurrentState(),BIN);
+  Serial.println(MachineControl_Encoders.getCurrentState(0),BIN);
   Serial.print("Encoder 0 Pulses: ");
-  Serial.println(MachineControl_Encoders[0].getPulses());
+  Serial.println(MachineControl_Encoders.getPulses(0));
   Serial.print("Encoder 0 Revolutions: ");
-  Serial.println(MachineControl_Encoders[0].getRevolutions());
+  Serial.println(MachineControl_Encoders.getRevolutions(0));
   Serial.println();
 
   Serial.print("Encoder 1 State: ");
-  Serial.println(MachineControl_Encoders[1].getCurrentState(),BIN);
+  Serial.println(MachineControl_Encoders.getCurrentState(1),BIN);
   Serial.print("Encoder 1 Pulses: ");
-  Serial.println(MachineControl_Encoders[1].getPulses());
+  Serial.println(MachineControl_Encoders.getPulses(1));
   Serial.print("Encoder 1 Revolutions: ");
-  Serial.println(MachineControl_Encoders[1].getRevolutions());
+  Serial.println(MachineControl_Encoders.getRevolutions(1));
   Serial.println();
   delay(25);
 }

Diff for: src/EncoderClass.cpp

@@ -1,7 +1,7 @@
 /**
  * @file EncoderClass.cpp
  * @author Leonardo Cavagnis
- * @brief Source file for the EncoderClass of the Portenta Machine Control.
+ * @brief Source file for the encoder module of the Portenta Machine Control.
  */
 
 /* Includes -----------------------------------------------------------------*/
@@ -17,15 +17,49 @@ EncoderClass::EncoderClass(PinName enc0_A_pin, PinName enc0_B_pin, PinName enc0_
 EncoderClass::~EncoderClass()
 { }
 
-QEI& EncoderClass::operator[](int index) {
-    switch (index) {
+void EncoderClass::reset(int channel) {
+    switch (channel) {
         case 0:
-            return _enc0;
+            _enc0.reset();
+            break;
         case 1:
-            return _enc1;
+            _enc1.reset();
+            break;
         default:
-            // Return encoder 0 by default if an invalid index is provided
-            return _enc0;
+            return;
+    }
+}
+
+int EncoderClass::getCurrentState(int channel) {
+    switch (channel) {
+        case 0:
+            return _enc0.getCurrentState();
+        case 1:
+            return _enc1.getCurrentState();
+        default:
+            return -1;
+    }
+}
+
+int EncoderClass::getPulses(int channel) {
+    switch (channel) {
+        case 0:
+            return _enc0.getPulses();
+        case 1:
+            return _enc1.getPulses();
+        default:
+            return -1;
+    }
+}
+
+int EncoderClass::getRevolutions(int channel) {
+    switch (channel) {
+        case 0:
+            return _enc0.getRevolutions();
+        case 1:
+            return _enc1.getRevolutions();
+        default:
+            return -1;
     }
 }
 

Diff for: src/EncoderClass.h

@@ -1,7 +1,7 @@
 /**
  * @file EncoderClass.h
  * @author Leonardo Cavagnis
- * @brief Header file for the EncoderClass of the Portenta Machine Control.
+ * @brief Header file for the encoder module 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
@@ -22,6 +22,10 @@
 /**
  * @class EncoderClass
  * @brief Class for managing Quadrature Encoder Interface devices of the Portenta Machine Control.
+ * 
+ * This class provides methods to interact with two quadrature encoders. Each encoder
+ * has two channels (A and B) for quadrature signals and an index channel. The class
+ * allows reading the current state, pulses, and revolutions of each encoder.
  */
 class EncoderClass {
 public:
@@ -31,12 +35,12 @@ class EncoderClass {
      * 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).
+     * @param enc0_A_pin Pin assignment for encoder 0 channel A (default: PJ_8).
+     * @param enc0_B_pin Pin assignment for encoder 0 channel B (default: PH_12).
+     * @param enc0_I_pin Pin assignment for encoder 0 Index channel (default: PH_11).
+     * @param enc1_A_pin Pin assignment for encoder 1 channel A (default: PC_13).
+     * @param enc1_B_pin Pin assignment for encoder 1 channel B (default: PI_7).
+     * @param enc1_I_pin Pin assignment for encoder 1 Index channel (default: PJ_10).
      */
     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);
@@ -49,14 +53,45 @@ class EncoderClass {
     ~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.
+     * @brief Reset the encoder counter for the specified channel.
+     * 
+     * @param channel The encoder channel (0 or 1) to reset.
+     */
+    void reset(int channel);
+
+    /**
+     * @brief Get the current state of the specified encoder channel.
+     * 
+     * The current state is the value of the encoder counter.
+     * 
+     * @param channel The encoder channel (0 or 1) to read the state from.
+     * @return The current state of the encoder channel as a 2-bit number, where:
+     *         bit 0 = The reading from channel B
+     *         bit 1 = The reading from channel A
+     */
+    int getCurrentState(int channel);
+
+    /**
+     * @brief Get the number of pulses counted by the specified encoder channel.
+     * 
+     * This method returns the number of pulses counted by the encoder. Each pulse
+     * corresponds to a change in the encoder's quadrature signal.
+     * 
+     * @param channel The encoder channel (0 or 1) to read the pulses from.
+     * @return The number of pulses counted by the encoder channel.
+     */
+    int getPulses(int channel);
+
+    /**
+     * @brief Get the number of revolutions counted by the specified encoder channel.
+     * 
+     * This method returns the number of full revolutions counted by the encoder.
+     * It utilizes the index channel to track revolutions.
+     * 
+     * @param channel The encoder channel (0 or 1) to read the revolutions from.
+     * @return The number of revolutions counted by the encoder channel.
      */
-    QEI& operator[](int index);
+    int getRevolutions(int channel);
 
 private:
     QEI _enc0;  // QEI object for encoder 0