encoders.h File Reference

Contains functions for reading encoder values. More...

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Defines
#define	LEFT   0
	Left wheel.
#define	RIGHT   1
	Right wheel.
#define	ENCODER_MAGNET_FAILURE   1025
	Magnet misaligned - likely distance from encoder problem.
#define	ENCODER_MISALIGNED   1027
	Encoder misaligned - likely on XY plane.
#define	ENCODER_DATA_NOT_READY   1026
	Not enough time has passed - encoders not initialized in hardware.
#define	ENCODER_DELAY   20
	delay_ms argument after a full read is complete
#define	OCF   _BV(4)
#define	COF   _BV(3)
#define	LIN   _BV(2)
#define	MagINCn   _BV(1)
#define	MagDECn   _BV(0)
#define	BUFFER_SIZE   23
	Buffer size.
Functions
void	encoders_init (void)
	Initialize encoders.
int	encoder_read (char encoder)
	Read instantaneous encoder value.
int	encoder_get_dx (char encoder)
	Get total distance traveled.
void	encoder_rst_dx (char encoder)
	Reset distance counter.
int	encoder_get_tc (void)
	Get time count: The number of encoder reads that have occurred.
void	encoder_rst_tc (void)
	Reset the time count.
void	encoder_wait (int nReadings)
	Waits for the next n encoder reading, then returns.

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Detailed Description

Contains functions for reading encoder values.

Contains high and low level functions for reading encoders including reading out total distance covered, and eventually velocity.

Author:

Colony Project, CMU Robotics Club