Rotational Sensor#
Hardware Interface#
Defined in namespace hal
#include <libhal/rotation_sensor.hpp>
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class rotation_sensor#
Rotation measuring hardware abstraction interface.
Examples of rotary encoder are:
Rotary Potentiometers
Quadrature Encoders
Incremental Encoders
Absolute Encoders
Rotary Magnetic Encoders
Inertial Measurement Unit or IMU
Rotation sensors can be relative or absolute. Relative position means that the sensor can only see changes in rotation from where measurement started. In other words, at application start, relative encoders will start at 0. Absolute encoders know their position at all times. At application start, the absolute encoder will be able to determine its exact orientation relative to a frame of reference when read.
Examples of relative rotation sensors are:
Quadrature Encoders
Incremental Encoders
Examples of absolute rotation sensors are:
Rotary Potentiometers
Absolute Encoders
Rotary Magnetic Encoders
IMUs
Rotation sensors can also be finite or infinite. Finite meaning that the angle that can be reported is a fixed amount for the device. Infinite means that the encoder can continue rotating and adding more to its angle reading forever. Infinite rotation sensors tend to not have a physical stop that limits how much they can be rotated.
Examples of finite rotation sensors are:
Rotary Potentiometers
Absolute Encoders
IMUs
Examples of infinite rotation sensors are:
Rotary Magnetic Encoders
Quadrature Encoders
Incremental Encoders
This interface does not provide a means to determine these attributes of a rotation sensor as this is an application architecture decision. Drivers that implement this interface should document what kind of rotary sensor it is such that a developer can determine its applicability to their application. The context of which sensor ought to be used for an application is solely known at architecture definition time and software should not be expected to at runtime, if the right type of rotation sensor was passed into the object.
Subclassed by hal::soft::inert_rotation_sensor
Public Functions
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struct read_t#
Result from reading the rotation sensor.