Encoder Class Reference

Class to interface with a 14-bit SPI-based rotary encoder. More...

#include <encoder.h>

Public Member Functions
	Encoder (SPI_HandleTypeDef *hspi, TIM_HandleTypeDef *htim, GPIO &CSn)
	Constructs an Encoder object.
void	update ()
	Updates angle, position, and velocity.
int32_t	getCommutationAngle ()
	Returns angle adjusted for motor commutation.
float	getAngle ()
	Returns current angle in radians [0, 2π).
float	getPosition ()
	Returns accumulated position in radians.
float	getVelocity ()
	Returns estimated angular velocity in rad/s.
void	zero ()
	Sets current angle as new zero reference.
void	resetPosition ()
	Resets the multi-turn position to zero.
uint16_t	readRawAngle ()
	Performs an SPI read to get raw encoder angle.

Public Attributes
uint16_t	rawAngle

Detailed Description

Class to interface with a 14-bit SPI-based rotary encoder.

Constructor & Destructor Documentation

Encoder()

Encoder::Encoder	(	SPI_HandleTypeDef *	hspi,
		TIM_HandleTypeDef *	htim,
		GPIO &	CSn )

Constructs an Encoder object.

Parameters

hspi	Pointer to the SPI interface.
htim	Pointer to the timer for timing velocity.
CSn	GPIO object for chip select.

Member Function Documentation

getAngle()

float Encoder::getAngle

(

)

Returns current angle in radians [0, 2π).

Returns

Absolute angle in radians within one revolution.

getCommutationAngle()

int32_t Encoder::getCommutationAngle

(

)

Returns angle adjusted for motor commutation.

Returns

Angle in encoder ticks relative to commutation zero.

getPosition()

float Encoder::getPosition

(

)

Returns accumulated position in radians.

Returns

Multi-turn position in radians.

getVelocity()

float Encoder::getVelocity

(

)

Returns estimated angular velocity in rad/s.

Returns

Angular velocity in rad/s.

readRawAngle()

uint16_t Encoder::readRawAngle

(

)

Performs an SPI read to get raw encoder angle.

Returns

Raw 14-bit encoder angle.

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

• C:/Users/nickl/OneDrive - Cal Poly/POLY4TH/SPRING'25/507/LAB WORKSPACE/SmartKnobController_REV2/Core/DoxCommd/encoder.h
• C:/Users/nickl/OneDrive - Cal Poly/POLY4TH/SPRING'25/507/LAB WORKSPACE/SmartKnobController_REV2/Core/DoxCommd/encoder.cpp