encoders.h

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#ifndef __ENCODERS_H__
#define __ENCODERS_H__


#ifndef LEFT

        #define LEFT 0
#endif
#ifndef RIGHT

        #define RIGHT 1
#endif

#define ENCODER_MAX 1024

#define ENCODER_MAGNET_FAILURE 1025

#define ENCODER_MISALIGNED 1027

#define ENCODER_DATA_NOT_READY 1026

#define ENCODER_DELAY 20

//Data invalid flags (hardware failure):
#define OCF _BV(4)
#define COF _BV(3)

//Data invalid alarm (May be invalid):
#define LIN _BV(2)

#define MagINCn _BV(1)
#define MagDECn _BV(0)

#ifdef BUFFER_SIZE
#error BUFFER_SIZE already defined!
#endif

#define BUFFER_SIZE 46

#define ERR_VEL 1024

int encoders_init(void);
int encoder_read(char encoder);

int encoder_get_x(char encoder);

int encoder_get_v(char encoder);

int encoder_get_dx(char encoder);
int encoder_rst_dx(char encoder);
int encoder_get_tc(void);
int encoder_rst_tc(void);

int encoder_wait( int nReadings );
 //end group

#endif

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