Colony

#ifndef __ENCODERS_H__

#define __ENCODERS_H__

#define RIGHT 1

#ifndef LEFT

        #define LEFT 0

#endif

#ifndef LEFT

        #define LEFT 0

#endif

#define INVALID 1024

#define MAGNET_FAILURE 1025

//delay_ms argument after a full read is complete

#define ENCODER_DELAY 20

#define MIN_V (-100)

#define MAX_V 100

//Data invalid flags (hardware failure):

#define OCF _BV(4)

#define COF _BV(3)

//Data invlalid alarm (May be invalid):

#define LIN _BV(2)

#define MagINCn _BV(1)

#define MagDECn _BV(0)

#define BUFFER_SIZE 23

void encoders_init(void);

int encoder_read(char encoder);

char encoder_direction(char encoder);

int encoder_get_dx(char encoder);

void encoder_rst_dx(char encoder);

int encoder_get_tc(void);

void encoder_rst_tc(void);

int encoder_get_v(char encoder);

//waits for the next encoder reading, then returns

void encoder_wait( int nReadings );

#endif