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Revision 1418

Added by Rich Hong over 14 years ago

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.

View differences:

test_encoders.c
21 21 
	usb_init();
22 22 
	encoders_init();
23 23 
	int encoder_left,encoder_right;
24 
	int dx_left, dx_right;
24 
	int x_left, x_right;
25 
	int v_left, v_right;
25 26 
	int tc;
26 27 
	while(1) {
27 28 
		/* button1 is pressed */
......
40 41 
		usb_puti(encoder_right);
41 42 
		usb_puts("\n");
42 43 

  		




  43
  
  
    
		dx_left = encoder_get_dx(LEFT);


  		




  44
  
  
    
		dx_right = encoder_get_dx(RIGHT);


  		




  
  44
  
    
		x_left = encoder_get_x(LEFT);


  		




  
  45
  
    
		x_right = encoder_get_x(RIGHT);


  		




  45
  46
  
    
		usb_puts("Total Distance (left, right): ");


  		




  46
  
  
    
		usb_puti(dx_left);


  		




  
  47
  
    
		usb_puti(x_left);


  		




  47
  48
  
    
		usb_puts(", ");


  		




  48
  
  
    
		usb_puti(dx_right);


  		




  
  49
  
    
		usb_puti(x_right);


  		




  49
  50
  
    
		usb_puts("\n");


  		




  50
  51
  
    

  		




  
  52
  
    
		v_left = encoder_get_v(LEFT);


  		




  
  53
  
    
		v_right = encoder_get_v(RIGHT);


  		




  
  54
  
    
		usb_puts("Velocity (left, right): ");


  		




  
  55
  
    
		usb_puti(v_left);


  		




  
  56
  
    
		usb_puts(", ");


  		




  
  57
  
    
		usb_puti(v_right);


  		




  
  58
  
    
		usb_puts("\n");


  		




  
  59
  
    

  		




  51
  60
  
    
		tc = encoder_get_tc();


  		




  52
  61
  
    
		usb_puts("Time count: ");


  		




  53
  62
  
    
		usb_puti(tc);


  		












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