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<h1>encoders.c File Reference</h1>Encoders. |
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<a href="#_details">More...</a> |
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<p>
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<code>#include <avr/io.h></code><br> |
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<code>#include "dragonfly_defs.h"</code><br> |
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<code>#include "<a class="el" href="spi_8h-source.html">spi.h</a>"</code><br> |
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<code>#include "<a class="el" href="ring__buffer_8h-source.html">ring_buffer.h</a>"</code><br> |
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<code>#include "<a class="el" href="encoders_8h-source.html">encoders.h</a>"</code><br> |
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<table border="0" cellpadding="0" cellspacing="0"> |
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<tr><td></td></tr> |
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="encoders_8c.html#2c9346ec6c25d87876fa05e50e130752">encoder_recv</a> (char data)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">This functions recieves data from the encoders directly. <a href="#2c9346ec6c25d87876fa05e50e130752"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6da6c6f42a9420de9564850be49d868f"></a><!-- doxytag: member="encoders.c::left_data_array_put" ref="6da6c6f42a9420de9564850be49d868f" args="(unsigned short int value)" --> |
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void </td><td class="memItemRight" valign="bottom"><b>left_data_array_put</b> (unsigned short int value)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="20eb5b187c44b6ebad289c82c970ad62"></a><!-- doxytag: member="encoders.c::left_data_array_top" ref="20eb5b187c44b6ebad289c82c970ad62" args="(void)" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>left_data_array_top</b> (void)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="80c9ea9917dc3104f997fc92f1181260"></a><!-- doxytag: member="encoders.c::left_data_array_prev" ref="80c9ea9917dc3104f997fc92f1181260" args="(void)" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>left_data_array_prev</b> (void)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="41c072d59b0bccf5536d2e832ad5c061"></a><!-- doxytag: member="encoders.c::left_data_array_bottom" ref="41c072d59b0bccf5536d2e832ad5c061" args="(void)" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>left_data_array_bottom</b> (void)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="96772d871f627047698584056780475f"></a><!-- doxytag: member="encoders.c::right_data_array_put" ref="96772d871f627047698584056780475f" args="(unsigned short int value)" --> |
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void </td><td class="memItemRight" valign="bottom"><b>right_data_array_put</b> (unsigned short int value)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="85691411d2955edffb50de8b2b92b40a"></a><!-- doxytag: member="encoders.c::right_data_array_top" ref="85691411d2955edffb50de8b2b92b40a" args="(void)" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>right_data_array_top</b> (void)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8b950ba4559719b2d729a37ae07eb27f"></a><!-- doxytag: member="encoders.c::right_data_array_prev" ref="8b950ba4559719b2d729a37ae07eb27f" args="(void)" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>right_data_array_prev</b> (void)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2cf793cadeb0baa8412622c53823e877"></a><!-- doxytag: member="encoders.c::right_data_array_bottom" ref="2cf793cadeb0baa8412622c53823e877" args="(void)" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>right_data_array_bottom</b> (void)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bb6208e81ba2d4b24241d5f4de7ef16f"></a><!-- doxytag: member="encoders.c::left_data_at" ref="bb6208e81ba2d4b24241d5f4de7ef16f" args="(int index)" --> |
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int </td><td class="memItemRight" valign="bottom"><b>left_data_at</b> (int index)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3eee2fa7ed7ff1bfe2d6fc39dfe8a1f4"></a><!-- doxytag: member="encoders.c::right_data_at" ref="3eee2fa7ed7ff1bfe2d6fc39dfe8a1f4" args="(int index)" --> |
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int </td><td class="memItemRight" valign="bottom"><b>right_data_at</b> (int index)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="59ceb79d99cecc522a6456b8de858f3f"></a><!-- doxytag: member="encoders.c::get_dx" ref="59ceb79d99cecc522a6456b8de858f3f" args="(char encoder, int index)" --> |
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int </td><td class="memItemRight" valign="bottom"><b>get_dx</b> (char encoder, int index)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8431dd7ba0d5bfc1707848993d1adfcd"></a><!-- doxytag: member="encoders.c::encoder_recv_complete" ref="8431dd7ba0d5bfc1707848993d1adfcd" args="(void)" --> |
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void </td><td class="memItemRight" valign="bottom"><b>encoder_recv_complete</b> (void)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g517df1c739bb887e39630553f3f10951">encoders_init</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Initializes encoder variables and the hardware interface. <a href="group__encoders.html#g517df1c739bb887e39630553f3f10951"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g9abc8e86fe64bcf4c3862ed12d913530">encoder_read</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the specified encoders value. <a href="group__encoders.html#g9abc8e86fe64bcf4c3862ed12d913530"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g68d8fd95c78ac910e6a62940451088d4">encoder_get_x</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get total distance travelled by the specified encoder (in encoder ticks). <a href="group__encoders.html#g68d8fd95c78ac910e6a62940451088d4"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gd73643bd46dbc459cc0dfa8dd90b4992">encoder_get_dx</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get total distance traveled. <a href="group__encoders.html#gd73643bd46dbc459cc0dfa8dd90b4992"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gdfa15a962856217c49d8a7eb326867d2">encoder_get_v</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the approximated instantaneous velocity of the robot in terms of encoder clicks. <a href="group__encoders.html#gdfa15a962856217c49d8a7eb326867d2"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g2f00a2c3cc26610bdd80aeca032845bf">encoder_rst_dx</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset distance counter. <a href="group__encoders.html#g2f00a2c3cc26610bdd80aeca032845bf"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g8ad080c3e41790edd7e7ccbc91060fec">encoder_get_tc</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the number of encoder reads that have occurred. <a href="group__encoders.html#g8ad080c3e41790edd7e7ccbc91060fec"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g28710b1699c65f3bb0ceac2cb456113f">encoder_rst_tc</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Resets the encoder read counter. <a href="group__encoders.html#g28710b1699c65f3bb0ceac2cb456113f"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g858be4d7af3a488e9cbd630a4c9bc7cd">encoder_wait</a> (int n)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Waits until n encoder reads have occurred. Counter is reset on functions exit. <a href="group__encoders.html#g858be4d7af3a488e9cbd630a4c9bc7cd"></a><br></td></tr> |
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<tr><td colspan="2"><br><h2>Variables</h2></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="20ffdc252e39e8fe5c67391916f57b27"></a><!-- doxytag: member="encoders.c::encoders_initd" ref="20ffdc252e39e8fe5c67391916f57b27" args="" --> |
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unsigned char </td><td class="memItemRight" valign="bottom"><b>encoders_initd</b> = 0</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a839f361398e2813da52fdf2a58e537a"></a><!-- doxytag: member="encoders.c::left_data_buf" ref="a839f361398e2813da52fdf2a58e537a" args="" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>left_data_buf</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c2f6f37332d803f5c43f72644f927a21"></a><!-- doxytag: member="encoders.c::right_data_buf" ref="c2f6f37332d803f5c43f72644f927a21" args="" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>right_data_buf</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0e5fd049ed8d39b4a711e436ab4371ae"></a><!-- doxytag: member="encoders.c::encoder_buf_index" ref="0e5fd049ed8d39b4a711e436ab4371ae" args="" --> |
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char </td><td class="memItemRight" valign="bottom"><b>encoder_buf_index</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="13bb959e9dcebcf0d74f85fb6b6511a2"></a><!-- doxytag: member="encoders.c::left_data" ref="13bb959e9dcebcf0d74f85fb6b6511a2" args="" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>left_data</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="09d4d69ee42fca12dbb43b52cfa7b102"></a><!-- doxytag: member="encoders.c::right_data" ref="09d4d69ee42fca12dbb43b52cfa7b102" args="" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>right_data</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bacb87738d9a16fdd2da96af924e7aac"></a><!-- doxytag: member="encoders.c::left_data_array" ref="bacb87738d9a16fdd2da96af924e7aac" args="[BUFFER_SIZE]" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>left_data_array</b> [BUFFER_SIZE]</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="28f8d0cf3f1d4f1bb064dda843ca16c5"></a><!-- doxytag: member="encoders.c::right_data_array" ref="28f8d0cf3f1d4f1bb064dda843ca16c5" args="[BUFFER_SIZE]" --> |
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unsigned int </td><td class="memItemRight" valign="bottom"><b>right_data_array</b> [BUFFER_SIZE]</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c2f6aab19f5554b86848657974f63ac4"></a><!-- doxytag: member="encoders.c::left_data_idx" ref="c2f6aab19f5554b86848657974f63ac4" args="" --> |
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int </td><td class="memItemRight" valign="bottom"><b>left_data_idx</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="792ad1268f59d3ceba8b3978f222c0ee"></a><!-- doxytag: member="encoders.c::right_data_idx" ref="792ad1268f59d3ceba8b3978f222c0ee" args="" --> |
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int </td><td class="memItemRight" valign="bottom"><b>right_data_idx</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c5d6b93b27ef603d5867ab96852aae3a"></a><!-- doxytag: member="encoders.c::left_dx" ref="c5d6b93b27ef603d5867ab96852aae3a" args="" --> |
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int </td><td class="memItemRight" valign="bottom"><b>left_dx</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="79099d35f89cb734dc42d155c8664e9e"></a><!-- doxytag: member="encoders.c::right_dx" ref="79099d35f89cb734dc42d155c8664e9e" args="" --> |
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int </td><td class="memItemRight" valign="bottom"><b>right_dx</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="73775473e3d91604593bda402c46495c"></a><!-- doxytag: member="encoders.c::timecount" ref="73775473e3d91604593bda402c46495c" args="" --> |
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long int </td><td class="memItemRight" valign="bottom"><b>timecount</b></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ea61ea474a18017a4485f66629600709"></a><!-- doxytag: member="encoders.c::data_ready" ref="ea61ea474a18017a4485f66629600709" args="" --> |
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volatile short int </td><td class="memItemRight" valign="bottom"><b>data_ready</b></td></tr> |
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</table>
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<hr><a name="_details"></a><h2>Detailed Description</h2> |
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Encoders. |
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<p>
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Copyright (c) 2007 Colony Project<p>
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:<p>
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.<p>
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.<p>
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Implementation of functions for encoders.<p>
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl> |
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<hr><h2>Function Documentation</h2> |
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<a class="anchor" name="2c9346ec6c25d87876fa05e50e130752"></a><!-- doxytag: member="encoders.c::encoder_recv" ref="2c9346ec6c25d87876fa05e50e130752" args="(char data)" --> |
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<div class="memitem"> |
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<div class="memproto"> |
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<table class="memname"> |
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<tr>
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<td class="memname">int encoder_recv </td> |
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<td>(</td> |
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<td class="paramtype">char </td> |
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<td class="paramname"> <em>data</em> </td> |
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<td> ) </td> |
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<td></td> |
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</table>
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</div>
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<div class="memdoc"> |
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<p>
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This functions recieves data from the encoders directly. |
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<p>
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Full reads occur every 40 microseconds. This function should be called every 8 microseconds.</dd></dl> |
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise </dd></dl> |
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</div>
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</div><p> |
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</div>
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:59 2009 for Colony by |
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<a href="http://www.doxygen.org/index.html"> |
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address> |
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