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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"> |
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<title>Colony: Encoders</title> |
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<!-- Generated by Doxygen 1.5.8 -->
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<li><a href="index.html"><span>Main Page</span></a></li> |
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<li><a href="annotated.html"><span>Data Structures</span></a></li> |
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<div class="contents"> |
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<h1>Encoders</h1><table border="0" cellpadding="0" cellspacing="0"> |
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<tr><td></td></tr> |
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g437ef08681e7210d6678427030446a54"></a><!-- doxytag: member="encoders::LEFT" ref="g437ef08681e7210d6678427030446a54" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g437ef08681e7210d6678427030446a54">LEFT</a> 0</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Left wheel. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g80fb826a684cf3f0d306b22aa100ddac"></a><!-- doxytag: member="encoders::RIGHT" ref="g80fb826a684cf3f0d306b22aa100ddac" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g80fb826a684cf3f0d306b22aa100ddac">RIGHT</a> 1</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Right wheel. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1f12cd2d377e62c56999d46dc6bb7cfc"></a><!-- doxytag: member="encoders::ENCODER_MAX" ref="g1f12cd2d377e62c56999d46dc6bb7cfc" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g1f12cd2d377e62c56999d46dc6bb7cfc">ENCODER_MAX</a> 1024</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Max value of valid encoder reading. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ga7c882763d1877f0000be3e73f93d08a"></a><!-- doxytag: member="encoders::ENCODER_MAGNET_FAILURE" ref="ga7c882763d1877f0000be3e73f93d08a" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#ga7c882763d1877f0000be3e73f93d08a">ENCODER_MAGNET_FAILURE</a> 1025</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Magnet misaligned - likely distance from encoder problem. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g461113043ab113b6dc7d56619a1a15f4"></a><!-- doxytag: member="encoders::ENCODER_MISALIGNED" ref="g461113043ab113b6dc7d56619a1a15f4" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g461113043ab113b6dc7d56619a1a15f4">ENCODER_MISALIGNED</a> 1027</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Encoder misaligned - likely on XY plane. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g0a5cb25278a57b19a46264d134033f7b"></a><!-- doxytag: member="encoders::ENCODER_DATA_NOT_READY" ref="g0a5cb25278a57b19a46264d134033f7b" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g0a5cb25278a57b19a46264d134033f7b">ENCODER_DATA_NOT_READY</a> 1026</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Not enough time has passed - encoders not initialized in hardware. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g5ff35c79ce306ac5c3580b96dea4e653"></a><!-- doxytag: member="encoders::ENCODER_DELAY" ref="g5ff35c79ce306ac5c3580b96dea4e653" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g5ff35c79ce306ac5c3580b96dea4e653">ENCODER_DELAY</a> 20</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">delay_ms argument after a full read is complete <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g9173b4a556a38fffd9336138830ebfa0"></a><!-- doxytag: member="encoders::OCF" ref="g9173b4a556a38fffd9336138830ebfa0" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><b>OCF</b> _BV(4)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdfb416b9855f4d6cc2153044a681509e"></a><!-- doxytag: member="encoders::COF" ref="gdfb416b9855f4d6cc2153044a681509e" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><b>COF</b> _BV(3)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gfbb57dfc13455b39716c3bb5c55eaa06"></a><!-- doxytag: member="encoders::LIN" ref="gfbb57dfc13455b39716c3bb5c55eaa06" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><b>LIN</b> _BV(2)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdc67b4ce01de99b63b3639f03c03a05b"></a><!-- doxytag: member="encoders::MagINCn" ref="gdc67b4ce01de99b63b3639f03c03a05b" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><b>MagINCn</b> _BV(1)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdc7fd147cd970830e275f0ed9ebff00a"></a><!-- doxytag: member="encoders::MagDECn" ref="gdc7fd147cd970830e275f0ed9ebff00a" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><b>MagDECn</b> _BV(0)</td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g6b20d41d6252e9871430c242cb1a56e7"></a><!-- doxytag: member="encoders::BUFFER_SIZE" ref="g6b20d41d6252e9871430c242cb1a56e7" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a> 46</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Buffer size. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g4bd797b3c049b5b2b8653b7a59b29e0d"></a><!-- doxytag: member="encoders::ERR_VEL" ref="g4bd797b3c049b5b2b8653b7a59b29e0d" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><b>ERR_VEL</b> 1024</td></tr> |
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g517df1c739bb887e39630553f3f10951"></a><!-- doxytag: member="encoders::encoders_init" ref="g517df1c739bb887e39630553f3f10951" args="(void)" --> |
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int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g517df1c739bb887e39630553f3f10951">encoders_init</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize encoders. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g9abc8e86fe64bcf4c3862ed12d913530">encoder_read</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Read instantaneous encoder value. <a href="#g9abc8e86fe64bcf4c3862ed12d913530"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g68d8fd95c78ac910e6a62940451088d4">encoder_get_x</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get total distance traveled. <a href="#g68d8fd95c78ac910e6a62940451088d4"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gdfa15a962856217c49d8a7eb326867d2">encoder_get_v</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get instantaneous velocity. <a href="#gdfa15a962856217c49d8a7eb326867d2"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gd73643bd46dbc459cc0dfa8dd90b4992">encoder_get_dx</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get total distance traveled. <a href="#gd73643bd46dbc459cc0dfa8dd90b4992"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g2f00a2c3cc26610bdd80aeca032845bf">encoder_rst_dx</a> (char encoder)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset distance counter. <a href="#g2f00a2c3cc26610bdd80aeca032845bf"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g8ad080c3e41790edd7e7ccbc91060fec">encoder_get_tc</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get time count: The number of encoder reads that have occurred. <a href="#g8ad080c3e41790edd7e7ccbc91060fec"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g28710b1699c65f3bb0ceac2cb456113f">encoder_rst_tc</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset the time count. <a href="#g28710b1699c65f3bb0ceac2cb456113f"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g858be4d7af3a488e9cbd630a4c9bc7cd">encoder_wait</a> (int nReadings)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Waits for the next n encoder reading, then returns. <a href="#g858be4d7af3a488e9cbd630a4c9bc7cd"></a><br></td></tr> |
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</table>
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<hr><h2>Function Documentation</h2> |
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<a class="anchor" name="gd73643bd46dbc459cc0dfa8dd90b4992"></a><!-- doxytag: member="encoders.h::encoder_get_dx" ref="gd73643bd46dbc459cc0dfa8dd90b4992" args="(char encoder)" --> |
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<td class="memname">int encoder_get_dx </td> |
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<td>(</td> |
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<td class="paramtype">char </td> |
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<td class="paramname"> <em>encoder</em> </td> |
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<td> ) </td> |
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<div class="memdoc"> |
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<p>
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Get total distance traveled. |
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<p>
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Gets the total distance covered by the specified encoder (in encoder clicks)<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>encoder</em> </td><td>the encoder that you want to read, use LEFT or RIGHT</td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The distance covered by the specified encoder, -2 if the library is not initialized </dd></dl> |
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</div><p> |
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<a class="anchor" name="g8ad080c3e41790edd7e7ccbc91060fec"></a><!-- doxytag: member="encoders.h::encoder_get_tc" ref="g8ad080c3e41790edd7e7ccbc91060fec" args="(void)" --> |
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<td class="memname">int encoder_get_tc </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td class="paramname"> </td> |
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<td> ) </td> |
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<p>
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Get time count: The number of encoder reads that have occurred. |
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<p>
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Get time count: The number of encoder reads that have occurred.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The time count. </dd></dl> |
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</div><p> |
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<a class="anchor" name="gdfa15a962856217c49d8a7eb326867d2"></a><!-- doxytag: member="encoders.h::encoder_get_v" ref="gdfa15a962856217c49d8a7eb326867d2" args="(char encoder)" --> |
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<td class="memname">int encoder_get_v </td> |
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<td>(</td> |
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<td class="paramtype">char </td> |
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<td class="paramname"> <em>encoder</em> </td> |
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<td> ) </td> |
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<p>
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Get instantaneous velocity. |
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<p>
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Get instantaneous velocity.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>encoder</em> </td><td>RIGHT or LEFT - the wheel you want the velocity for.</td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The instantaneous velocity for the given wheel or twice the ERR_VEL if an error occurs (1024 * 2 = 2048)</dd></dl> |
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<dl compact><dt><b><a class="el" href="bug.html#_bug000005">Bug:</a></b></dt><dd>This uses hard coded values and results are inconsistent. Use at your own risk. </dd></dl> |
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</div><p> |
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<a class="anchor" name="g68d8fd95c78ac910e6a62940451088d4"></a><!-- doxytag: member="encoders.h::encoder_get_x" ref="g68d8fd95c78ac910e6a62940451088d4" args="(char encoder)" --> |
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<td class="memname">int encoder_get_x </td> |
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<td class="paramname"> <em>encoder</em> </td> |
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<td> ) </td> |
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<p>
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Get total distance traveled. |
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<p>
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Simply calls encoder_get_dx.</dd></dl> |
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Get total distance traveled.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>encoder</em> </td><td>the encoder that you want to read, either LEFT or RIGHT</td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>The distance covered by the specified encoder.</dd></dl> |
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Simply calls encoder_get_dx. </dd></dl> |
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<a class="anchor" name="g9abc8e86fe64bcf4c3862ed12d913530"></a><!-- doxytag: member="encoders.h::encoder_read" ref="g9abc8e86fe64bcf4c3862ed12d913530" args="(char encoder)" --> |
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<td class="memname">int encoder_read </td> |
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<td>(</td> |
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<td class="paramname"> <em>encoder</em> </td> |
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<td> ) </td> |
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<p>
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Read instantaneous encoder value. |
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<p>
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Read instantaneous encoder value.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>encoder</em> </td><td>this is the encoder that you want to read. Valid arguments are LEFT and RIGHT</td></tr> |
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the value of the specified encoder. -1 usually means low battery. -2 means the library was not properly initialized values above ENCODER_MAX usually means phyiscal problems with the encoder. </dd></dl> |
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<a class="anchor" name="g2f00a2c3cc26610bdd80aeca032845bf"></a><!-- doxytag: member="encoders.h::encoder_rst_dx" ref="g2f00a2c3cc26610bdd80aeca032845bf" args="(char encoder)" --> |
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<td class="memname">int encoder_rst_dx </td> |
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<td>(</td> |
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<td> ) </td> |
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<p>
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Reset distance counter. |
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<p>
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Resets the distance accumulator for the specified encoder.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>encoder</em> </td><td>the encoder that you want to reset distance for </td></tr> |
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</table>
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</dl>
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</div>
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</div><p> |
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<a class="anchor" name="g28710b1699c65f3bb0ceac2cb456113f"></a><!-- doxytag: member="encoders.h::encoder_rst_tc" ref="g28710b1699c65f3bb0ceac2cb456113f" args="(void)" --> |
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<div class="memitem"> |
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<div class="memproto"> |
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<table class="memname"> |
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<tr>
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<td class="memname">int encoder_rst_tc </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td class="paramname"> </td> |
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<td> ) </td> |
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<td></td> |
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</tr>
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</div>
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<div class="memdoc"> |
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<p>
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Reset the time count. |
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<p>
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Reset the time count.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise </dd></dl> |
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</div>
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</div><p> |
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<a class="anchor" name="g858be4d7af3a488e9cbd630a4c9bc7cd"></a><!-- doxytag: member="encoders.h::encoder_wait" ref="g858be4d7af3a488e9cbd630a4c9bc7cd" args="(int nReadings)" --> |
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<tr>
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<td class="memname">int encoder_wait </td> |
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<td>(</td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>n</em> </td> |
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<td> ) </td> |
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<td></td> |
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</tr>
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</table>
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<div class="memdoc"> |
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<p>
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Waits for the next n encoder reading, then returns. |
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<p>
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Waits for the next n encoder reading, then returns.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>n</em> </td><td></td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise </dd></dl> |
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</div>
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</div><p> |
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</div>
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:59 2009 for Colony by |
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<a href="http://www.doxygen.org/index.html"> |
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address> |
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</body>
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</html>
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