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<title>libdragonfly: 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="l00018"></a>00018 <span class="preprocessor">#ifndef __ENCODERS_H__</span>
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<a name="l00019"></a>00019 <span class="preprocessor"></span><span class="preprocessor">#define __ENCODERS_H__</span>
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<a name="l00020"></a>00020 <span class="preprocessor"></span>
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<a name="l00021"></a>00021
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<a name="l00022"></a>00022 <span class="preprocessor">#ifndef LEFT</span>
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<a name="l00023"></a>00023 <span class="preprocessor"></span>
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<a name="l00024"></a><a class="code" href="group__encoders.html#g437ef08681e7210d6678427030446a54">00024</a> <span class="preprocessor">        #define LEFT 0</span>
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<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#ifndef RIGHT</span>
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<a name="l00027"></a>00027 <span class="preprocessor"></span>
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<a name="l00028"></a><a class="code" href="group__encoders.html#g80fb826a684cf3f0d306b22aa100ddac">00028</a> <span class="preprocessor">        #define RIGHT 1</span>
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<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00030"></a>00030 <span class="preprocessor"></span>
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<a name="l00032"></a><a class="code" href="group__encoders.html#ga7c882763d1877f0000be3e73f93d08a">00032</a> <span class="preprocessor">#define ENCODER_MAGNET_FAILURE 1025</span>
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<a name="l00033"></a>00033 <span class="preprocessor"></span>
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<a name="l00034"></a><a class="code" href="group__encoders.html#g461113043ab113b6dc7d56619a1a15f4">00034</a> <span class="preprocessor">#define ENCODER_MISALIGNED 1027</span>
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<a name="l00035"></a>00035 <span class="preprocessor"></span>
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<a name="l00036"></a><a class="code" href="group__encoders.html#g0a5cb25278a57b19a46264d134033f7b">00036</a> <span class="preprocessor">#define ENCODER_DATA_NOT_READY 1026</span>
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<a name="l00037"></a>00037 <span class="preprocessor"></span>
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<a name="l00039"></a><a class="code" href="group__encoders.html#g5ff35c79ce306ac5c3580b96dea4e653">00039</a> <span class="preprocessor">#define ENCODER_DELAY 20</span>
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<a name="l00040"></a>00040 <span class="preprocessor"></span>
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<a name="l00041"></a>00041 <span class="comment">//Data invalid flags (hardware failure):</span>
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<a name="l00042"></a>00042 <span class="preprocessor">#define OCF _BV(4)</span>
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<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define COF _BV(3)</span>
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<a name="l00044"></a>00044 <span class="preprocessor"></span>
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<a name="l00045"></a>00045 <span class="comment">//Data invalid alarm (May be invalid):</span>
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<a name="l00046"></a>00046 <span class="preprocessor">#define LIN _BV(2)</span>
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<a name="l00047"></a>00047 <span class="preprocessor"></span>
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<a name="l00048"></a>00048 <span class="preprocessor">#define MagINCn _BV(1)</span>
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<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">#define MagDECn _BV(0)</span>
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<a name="l00050"></a>00050 <span class="preprocessor"></span>
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<a name="l00052"></a><a class="code" href="group__encoders.html#g6b20d41d6252e9871430c242cb1a56e7">00052</a> <span class="preprocessor">#define BUFFER_SIZE 23</span>
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<a name="l00053"></a>00053 <span class="preprocessor"></span>
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<a name="l00055"></a>00055 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#gf02e2149caeb6116f256783348031c86" title="Initializes encoder variables and the hardware interface.">encoders_init</a>(<span class="keywordtype">void</span>);
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<a name="l00057"></a>00057 <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="l00058"></a>00058
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<a name="l00060"></a>00060 <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="l00062"></a>00062 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#g7bef9844241df2154df77d10e5bf47c4" title="Reset distance counter.">encoder_rst_dx</a>(<span class="keywordtype">char</span> encoder);
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<a name="l00064"></a>00064 <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="l00066"></a>00066 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#ga410e62db3c6fdc317130a8d5a238655" title="Resets the encoder read counter.">encoder_rst_tc</a>(<span class="keywordtype">void</span>);
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<a name="l00067"></a>00067
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<a name="l00069"></a>00069 <span class="keywordtype">void</span> <a class="code" href="group__encoders.html#gd89387a19e48bee58885735099eabeed" 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="l00070"></a>00070  <span class="comment">//end group</span>
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<a name="l00072"></a>00072
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<a name="l00073"></a>00073 <span class="preprocessor">#endif</span>
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</pre></div></div>
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