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/**
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 * 
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 * @file encoders.h
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 * @brief Contains functions for reading encoder values.
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 *
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 * Contains high and low level functions for reading encoders
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 * including reading out total distance covered, and 
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 * eventually velocity.
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 *        
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 * @author Colony Project, CMU Robotics Club
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*/
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/**
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 * @addtogroup encoders
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 * @{
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 **/
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#ifndef __ENCODERS_H__
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#define __ENCODERS_H__
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#ifndef LEFT
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        /** @brief Left wheel **/
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        #define LEFT 0
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#endif
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#ifndef RIGHT
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        /** @brief Right wheel **/
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        #define RIGHT 1
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#endif
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/** @brief Max value of valid encoder reading. **/
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#define ENCODER_MAX 1024
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/** @brief Magnet misaligned - likely distance from encoder problem. **/
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#define ENCODER_MAGNET_FAILURE 1025
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/** @brief Encoder misaligned - likely on XY plane. **/
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#define ENCODER_MISALIGNED 1027
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/** @brief Not enough time has passed - encoders not initialized in hardware. **/
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#define ENCODER_DATA_NOT_READY 1026
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/** @brief delay_ms argument after a full read is complete **/
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#define ENCODER_DELAY 20
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//Data invalid flags (hardware failure):
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#define OCF _BV(4)
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#define COF _BV(3)
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//Data invalid alarm (May be invalid):
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#define LIN _BV(2)
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#define MagINCn _BV(1)
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#define MagDECn _BV(0)
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/** @brief Buffer size **/
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#define BUFFER_SIZE 46
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#define ERR_VEL 1024
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/** @brief Initialize encoders. **/
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void encoders_init(void);
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/** @brief Read instantaneous encoder value. **/
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int encoder_read(char encoder);
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/** @brief Get total distance traveled.
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 *  @note  Simply calls encoder_get_dx.
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 **/
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int encoder_get_x(char encoder);
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/** @brief Get instantaneous velocity. **/
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int encoder_get_v(char encoder);
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/** @brief Get total distance traveled. **/
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int encoder_get_dx(char encoder);
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/** @brief Reset distance counter. **/
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void encoder_rst_dx(char encoder);
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/** @brief Get time count: The number of encoder reads that have occurred. **/
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int encoder_get_tc(void);
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/** @brief Reset the time count. **/
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void encoder_rst_tc(void);
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/** @brief Waits for the next n encoder reading, then returns. **/
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void encoder_wait( int nReadings );
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/**@}**/ //end group
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#endif