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_MAX   1024
	Max value of valid encoder reading.
#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   46
	Buffer size.
#define	ERR_VEL   1024
Functions
int	encoders_init (void)
	Initialize encoders.
int	encoder_read (char encoder)
	Read instantaneous encoder value.
int	encoder_get_x (char encoder)
	Get total distance traveled.
int	encoder_get_v (char encoder)
	Get instantaneous velocity.
int	encoder_get_dx (char encoder)
	Get total distance traveled.
int	encoder_rst_dx (char encoder)
	Reset distance counter.
int	encoder_get_tc (void)
	Get time count: The number of encoder reads that have occurred.
int	encoder_rst_tc (void)
	Reset the time count.
int	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.

Copyright (c) 2007 Colony Project

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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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

Author:

Colony Project, CMU Robotics Club