sbl::components::control::Encoder Class Reference

Quadrature encoder with Gray code state machine and position tracking. More...

#include <encoder.hpp>

Collaboration diagram for sbl::components::control::Encoder:

Public Member Functions
	Encoder ()
void	update (bool a, bool b)
	Feed quadrature signals.
int32_t	delta ()
	Steps since last delta() call.
int32_t	position () const
	Cumulative position (does not reset)
void	reset ()
	Reset all state.

Detailed Description

Quadrature encoder with Gray code state machine and position tracking.

Note

All public methods are ISR-safe — pure state machine with no hardware I/O.

Definition at line 31 of file encoder.hpp.

Constructor & Destructor Documentation

Encoder()

sbl::components::control::Encoder::Encoder ( )

inline

Definition at line 33 of file encoder.hpp.

Member Function Documentation

delta()

int32_t sbl::components::control::Encoder::delta ( )

inline

Steps since last delta() call.

Positive = CW, negative = CCW. Resets on read.

Definition at line 76 of file encoder.hpp.

position()

int32_t sbl::components::control::Encoder::position ( ) const

inline

Cumulative position (does not reset)

Definition at line 83 of file encoder.hpp.

reset()

void sbl::components::control::Encoder::reset ( )

inline

Reset all state.

Definition at line 86 of file encoder.hpp.

update()

void sbl::components::control::Encoder::update ( bool  a, bool  b  )

inline

Feed quadrature signals.

Call once per update cycle with current A and B readings. The state machine detects CW/CCW transitions and accumulates delta.

Parameters

a	Channel A reading
b	Channel B reading

Definition at line 44 of file encoder.hpp.

Referenced by sbl::encoder::read().

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

• src/sbl/components/control/encoder.hpp