Revision 1418
Added encoder_get_x and encoder_get_v.
use get_v at your own risk
If encoder_read returns -1, this usually means battery is low.
If encoder_read returns a value greater than ENCODER_MAX, this usually means there are physical problems with the encoder.
| encoders.h | ||
|---|---|---|
| 28 | 28 |
#define RIGHT 1 |
| 29 | 29 |
#endif |
| 30 | 30 |
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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. **/ |
| 32 | 35 |
#define ENCODER_MAGNET_FAILURE 1025 |
| 33 | 36 |
/** @brief Encoder misaligned - likely on XY plane. **/ |
| ... | ... | |
| 49 | 52 |
#define MagDECn _BV(0) |
| 50 | 53 |
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| 51 | 54 |
/** @brief Buffer size **/ |
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#define BUFFER_SIZE 23
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#define BUFFER_SIZE 46
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#define ERR_VEL 1024 |
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| 54 | 59 |
/** @brief Initialize encoders. **/ |
| 55 | 60 |
void encoders_init(void); |
| 56 | 61 |
/** @brief Read instantaneous encoder value. **/ |
| 57 | 62 |
int encoder_read(char encoder); |
| 58 | 63 |
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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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| 59 | 72 |
/** @brief Get total distance traveled. **/ |
| 60 | 73 |
int encoder_get_dx(char encoder); |
| 61 | 74 |
/** @brief Reset distance counter. **/ |
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