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<title>Colony: encoders.h Source File</title>
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<h1>encoders.h</h1><a href="encoders_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
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<a name="l00043"></a>00043 <span class="preprocessor">#ifndef __ENCODERS_H__</span>
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<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#define __ENCODERS_H__</span>
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<a name="l00045"></a>00045 <span class="preprocessor"></span>
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<a name="l00046"></a>00046 
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<a name="l00047"></a>00047 <span class="preprocessor">#ifndef LEFT</span>
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<a name="l00048"></a>00048 <span class="preprocessor"></span>
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<a name="l00049"></a><a class="code" href="group__encoders.html#g437ef08681e7210d6678427030446a54">00049</a> <span class="preprocessor">        #define LEFT 0</span>
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<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#ifndef RIGHT</span>
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<a name="l00052"></a>00052 <span class="preprocessor"></span>
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<a name="l00053"></a><a class="code" href="group__encoders.html#g80fb826a684cf3f0d306b22aa100ddac">00053</a> <span class="preprocessor">        #define RIGHT 1</span>
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<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00055"></a>00055 <span class="preprocessor"></span>
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<a name="l00057"></a><a class="code" href="group__encoders.html#g1f12cd2d377e62c56999d46dc6bb7cfc">00057</a> <span class="preprocessor">#define ENCODER_MAX 1024</span>
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<a name="l00058"></a>00058 <span class="preprocessor"></span>
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<a name="l00060"></a><a class="code" href="group__encoders.html#ga7c882763d1877f0000be3e73f93d08a">00060</a> <span class="preprocessor">#define ENCODER_MAGNET_FAILURE 1025</span>
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<a name="l00061"></a>00061 <span class="preprocessor"></span>
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<a name="l00062"></a><a class="code" href="group__encoders.html#g461113043ab113b6dc7d56619a1a15f4">00062</a> <span class="preprocessor">#define ENCODER_MISALIGNED 1027</span>
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<a name="l00063"></a>00063 <span class="preprocessor"></span>
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<a name="l00064"></a><a class="code" href="group__encoders.html#g0a5cb25278a57b19a46264d134033f7b">00064</a> <span class="preprocessor">#define ENCODER_DATA_NOT_READY 1026</span>
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<a name="l00065"></a>00065 <span class="preprocessor"></span>
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<a name="l00067"></a><a class="code" href="group__encoders.html#g5ff35c79ce306ac5c3580b96dea4e653">00067</a> <span class="preprocessor">#define ENCODER_DELAY 20</span>
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<a name="l00068"></a>00068 <span class="preprocessor"></span>
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<a name="l00069"></a>00069 <span class="comment">//Data invalid flags (hardware failure):</span>
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<a name="l00070"></a>00070 <span class="preprocessor">#define OCF _BV(4)</span>
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<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define COF _BV(3)</span>
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<a name="l00072"></a>00072 <span class="preprocessor"></span>
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<a name="l00073"></a>00073 <span class="comment">//Data invalid alarm (May be invalid):</span>
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<a name="l00074"></a>00074 <span class="preprocessor">#define LIN _BV(2)</span>
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<a name="l00075"></a>00075 <span class="preprocessor"></span>
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<a name="l00076"></a>00076 <span class="preprocessor">#define MagINCn _BV(1)</span>
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<a name="l00077"></a>00077 <span class="preprocessor"></span><span class="preprocessor">#define MagDECn _BV(0)</span>
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<a name="l00078"></a>00078 <span class="preprocessor"></span>
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<a name="l00079"></a>00079 <span class="preprocessor">#ifdef BUFFER_SIZE</span>
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<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#error BUFFER_SIZE already defined!</span>
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<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00082"></a>00082 <span class="preprocessor"></span>
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<a name="l00084"></a><a class="code" href="group__encoders.html#g6b20d41d6252e9871430c242cb1a56e7">00084</a> <span class="preprocessor">#define BUFFER_SIZE 46</span>
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<a name="l00085"></a>00085 <span class="preprocessor"></span>
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<a name="l00086"></a>00086 <span class="preprocessor">#define ERR_VEL 1024</span>
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<a name="l00087"></a>00087 <span class="preprocessor"></span>
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<a name="l00089"></a>00089 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g517df1c739bb887e39630553f3f10951" title="Initializes encoder variables and the hardware interface.">encoders_init</a>(<span class="keywordtype">void</span>);
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<a name="l00091"></a>00091 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g9abc8e86fe64bcf4c3862ed12d913530" title="Returns the specified encoders value.">encoder_read</a>(<span class="keywordtype">char</span> encoder);
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<a name="l00092"></a>00092 
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<a name="l00096"></a>00096 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g68d8fd95c78ac910e6a62940451088d4" title="Get total distance travelled by the specified encoder (in encoder ticks).">encoder_get_x</a>(<span class="keywordtype">char</span> encoder);
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<a name="l00097"></a>00097 
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<a name="l00099"></a>00099 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#gdfa15a962856217c49d8a7eb326867d2" title="Returns the approximated instantaneous velocity of the robot in terms of encoder...">encoder_get_v</a>(<span class="keywordtype">char</span> encoder);
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<a name="l00100"></a>00100 
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<a name="l00102"></a>00102 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#gd73643bd46dbc459cc0dfa8dd90b4992" title="Get total distance traveled.">encoder_get_dx</a>(<span class="keywordtype">char</span> encoder);
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<a name="l00104"></a>00104 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g2f00a2c3cc26610bdd80aeca032845bf" title="Reset distance counter.">encoder_rst_dx</a>(<span class="keywordtype">char</span> encoder);
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<a name="l00106"></a>00106 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g8ad080c3e41790edd7e7ccbc91060fec" title="Returns the number of encoder reads that have occurred.">encoder_get_tc</a>(<span class="keywordtype">void</span>);
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<a name="l00108"></a>00108 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g28710b1699c65f3bb0ceac2cb456113f" title="Resets the encoder read counter.">encoder_rst_tc</a>(<span class="keywordtype">void</span>);
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<a name="l00109"></a>00109 
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<a name="l00111"></a>00111 <span class="keywordtype">int</span> <a class="code" href="group__encoders.html#g858be4d7af3a488e9cbd630a4c9bc7cd" title="Waits until n encoder reads have occurred. Counter is reset on functions exit.">encoder_wait</a>( <span class="keywordtype">int</span> nReadings );
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<a name="l00112"></a>00112  <span class="comment">//end group</span>
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<a name="l00114"></a>00114 
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<a name="l00115"></a>00115 <span class="preprocessor">#endif</span>
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</pre></div></div>
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