Encoders


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.

Function Documentation

int encoder_get_dx ( char encoder )

Get total distance traveled.

Gets the total distance covered by the specified encoder (in encoder clicks)

Parameters:

encoder

the encoder that you want to read, use LEFT or RIGHT

References LEFT, and RIGHT.

int encoder_get_tc ( void )

Get time count: The number of encoder reads that have occurred.

int encoder_read ( char encoder )

Read instantaneous encoder value.

Parameters:

encoder

this is the encoder that you want to read. Valid arguments are LEFT and RIGHT

References LEFT, and RIGHT.

void encoder_rst_dx ( char encoder )

Reset distance counter.

Resets the distance accumulator for the specified encoder.

Parameters:

encoder

the encoder that you want to reset distance for

References LEFT, and RIGHT.

void encoder_wait ( int n )

Waits for the next n encoder reading, then returns.

Parameters:

n