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2 | <html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"> |
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3 | <title>libdragonfly: Encoders</title> |
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5 | 1371 | chihsiuh | <link href="doxygen.css" rel="stylesheet" type="text/css"> |
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7 | 1398 | cmar | <!-- Generated by Doxygen 1.5.9 -->
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8 | 1371 | chihsiuh | <div class="navigation" id="top"> |
9 | <div class="tabs"> |
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10 | <ul>
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11 | <li><a href="index.html"><span>Main Page</span></a></li> |
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12 | <li><a href="pages.html"><span>Related Pages</span></a></li> |
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13 | <li><a href="modules.html"><span>Modules</span></a></li> |
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14 | <li><a href="annotated.html"><span>Data Structures</span></a></li> |
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16 | </ul>
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17 | </div>
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18 | </div>
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19 | <div class="contents"> |
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20 | <h1>Encoders</h1><table border="0" cellpadding="0" cellspacing="0"> |
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21 | <tr><td></td></tr> |
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22 | <tr><td colspan="2"><br><h2>Defines</h2></td></tr> |
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23 | <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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24 | #define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g437ef08681e7210d6678427030446a54">LEFT</a> 0</td></tr> |
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25 | |||
26 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Left wheel. <br></td></tr> |
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27 | <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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28 | #define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g80fb826a684cf3f0d306b22aa100ddac">RIGHT</a> 1</td></tr> |
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29 | |||
30 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Right wheel. <br></td></tr> |
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31 | <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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32 | #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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33 | |||
34 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Magnet misaligned - likely distance from encoder problem. <br></td></tr> |
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35 | <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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36 | #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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37 | |||
38 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Encoder misaligned - likely on XY plane. <br></td></tr> |
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39 | <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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40 | #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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41 | |||
42 | <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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43 | <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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44 | #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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45 | |||
46 | <tr><td class="mdescLeft"> </td><td class="mdescRight">delay_ms argument after a full read is complete <br></td></tr> |
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47 | <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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48 | #define </td><td class="memItemRight" valign="bottom"><b>OCF</b> _BV(4)</td></tr> |
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49 | |||
50 | <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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51 | #define </td><td class="memItemRight" valign="bottom"><b>COF</b> _BV(3)</td></tr> |
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52 | |||
53 | <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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54 | #define </td><td class="memItemRight" valign="bottom"><b>LIN</b> _BV(2)</td></tr> |
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55 | |||
56 | <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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57 | #define </td><td class="memItemRight" valign="bottom"><b>MagINCn</b> _BV(1)</td></tr> |
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58 | |||
59 | <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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60 | #define </td><td class="memItemRight" valign="bottom"><b>MagDECn</b> _BV(0)</td></tr> |
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61 | |||
62 | <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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63 | #define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a> 23</td></tr> |
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64 | |||
65 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Buffer size. <br></td></tr> |
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66 | <tr><td colspan="2"><br><h2>Functions</h2></td></tr> |
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67 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gf02e2149caeb6116f256783348031c86"></a><!-- doxytag: member="encoders::encoders_init" ref="gf02e2149caeb6116f256783348031c86" args="(void)" --> |
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68 | void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gf02e2149caeb6116f256783348031c86">encoders_init</a> (void)</td></tr> |
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69 | |||
70 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize encoders. <br></td></tr> |
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71 | <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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72 | |||
73 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Read instantaneous encoder value. <a href="#g9abc8e86fe64bcf4c3862ed12d913530"></a><br></td></tr> |
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74 | <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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75 | |||
76 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Get total distance traveled. <a href="#gd73643bd46dbc459cc0dfa8dd90b4992"></a><br></td></tr> |
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77 | <tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#g7bef9844241df2154df77d10e5bf47c4">encoder_rst_dx</a> (char encoder)</td></tr> |
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78 | |||
79 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Reset distance counter. <a href="#g7bef9844241df2154df77d10e5bf47c4"></a><br></td></tr> |
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80 | <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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81 | |||
82 | <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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83 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ga410e62db3c6fdc317130a8d5a238655"></a><!-- doxytag: member="encoders::encoder_rst_tc" ref="ga410e62db3c6fdc317130a8d5a238655" args="(void)" --> |
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84 | void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#ga410e62db3c6fdc317130a8d5a238655">encoder_rst_tc</a> (void)</td></tr> |
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85 | |||
86 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Reset the time count. <br></td></tr> |
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87 | <tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__encoders.html#gd89387a19e48bee58885735099eabeed">encoder_wait</a> (int nReadings)</td></tr> |
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88 | |||
89 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Waits for the next n encoder reading, then returns. <a href="#gd89387a19e48bee58885735099eabeed"></a><br></td></tr> |
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90 | </table>
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91 | <hr><h2>Function Documentation</h2> |
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92 | <a class="anchor" name="gd73643bd46dbc459cc0dfa8dd90b4992"></a><!-- doxytag: member="encoders.h::encoder_get_dx" ref="gd73643bd46dbc459cc0dfa8dd90b4992" args="(char encoder)" --> |
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93 | <div class="memitem"> |
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94 | <div class="memproto"> |
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95 | <table class="memname"> |
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96 | <tr>
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97 | <td class="memname">int encoder_get_dx </td> |
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98 | <td>(</td> |
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99 | <td class="paramtype">char </td> |
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100 | <td class="paramname"> <em>encoder</em> </td> |
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101 | <td> ) </td> |
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102 | 1398 | cmar | <td></td> |
103 | 1371 | chihsiuh | </tr>
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104 | </table>
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105 | </div>
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106 | <div class="memdoc"> |
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107 | |||
108 | <p>
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109 | Get total distance traveled. |
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110 | <p>
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111 | Gets the total distance covered by the specified encoder (in encoder clicks)<p>
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112 | <dl compact><dt><b>Parameters:</b></dt><dd> |
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113 | <table border="0" cellspacing="2" cellpadding="0"> |
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114 | <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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115 | </table>
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116 | </dl>
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117 | <dl class="return" compact><dt><b>Returns:</b></dt><dd>The distance covered by the specified encoder. </dd></dl> |
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118 | |||
119 | 1398 | cmar | <p>References <a class="el" href="encoders_8h_source.html#l00024">LEFT</a>, and <a class="el" href="encoders_8h_source.html#l00028">RIGHT</a>.</p> |
120 | 1371 | chihsiuh | |
121 | </div>
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122 | </div><p> |
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123 | <a class="anchor" name="g8ad080c3e41790edd7e7ccbc91060fec"></a><!-- doxytag: member="encoders.h::encoder_get_tc" ref="g8ad080c3e41790edd7e7ccbc91060fec" args="(void)" --> |
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124 | <div class="memitem"> |
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125 | <div class="memproto"> |
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126 | <table class="memname"> |
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127 | <tr>
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128 | <td class="memname">int encoder_get_tc </td> |
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129 | <td>(</td> |
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130 | <td class="paramtype">void </td> |
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131 | <td class="paramname"> </td> |
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132 | <td> ) </td> |
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133 | 1398 | cmar | <td></td> |
134 | 1371 | chihsiuh | </tr>
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135 | </table>
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136 | </div>
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137 | <div class="memdoc"> |
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138 | |||
139 | <p>
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140 | Get time count: The number of encoder reads that have occurred. |
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141 | <p>
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142 | Get time count: The number of encoder reads that have occurred.<p>
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143 | <dl class="return" compact><dt><b>Returns:</b></dt><dd>The time count. </dd></dl> |
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144 | |||
145 | </div>
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146 | </div><p> |
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147 | <a class="anchor" name="g9abc8e86fe64bcf4c3862ed12d913530"></a><!-- doxytag: member="encoders.h::encoder_read" ref="g9abc8e86fe64bcf4c3862ed12d913530" args="(char encoder)" --> |
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148 | <div class="memitem"> |
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149 | <div class="memproto"> |
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150 | <table class="memname"> |
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151 | <tr>
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152 | <td class="memname">int encoder_read </td> |
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153 | <td>(</td> |
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154 | <td class="paramtype">char </td> |
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155 | <td class="paramname"> <em>encoder</em> </td> |
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156 | <td> ) </td> |
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157 | 1398 | cmar | <td></td> |
158 | 1371 | chihsiuh | </tr>
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159 | </table>
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160 | </div>
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161 | <div class="memdoc"> |
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162 | |||
163 | <p>
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164 | Read instantaneous encoder value. |
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165 | <p>
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166 | Read instantaneous encoder value.<p>
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167 | <dl compact><dt><b>Parameters:</b></dt><dd> |
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168 | <table border="0" cellspacing="2" cellpadding="0"> |
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169 | <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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170 | </table>
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171 | </dl>
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172 | <dl class="return" compact><dt><b>Returns:</b></dt><dd>the value of the specified encoder </dd></dl> |
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173 | |||
174 | 1398 | cmar | <p>References <a class="el" href="encoders_8h_source.html#l00024">LEFT</a>, and <a class="el" href="encoders_8h_source.html#l00028">RIGHT</a>.</p> |
175 | 1371 | chihsiuh | |
176 | 1398 | cmar | <p>Referenced by <a class="el" href="odometry_8c_source.html#l00069">odometry_reset()</a>.</p> |
177 | 1371 | chihsiuh | |
178 | </div>
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179 | </div><p> |
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180 | <a class="anchor" name="g7bef9844241df2154df77d10e5bf47c4"></a><!-- doxytag: member="encoders.h::encoder_rst_dx" ref="g7bef9844241df2154df77d10e5bf47c4" args="(char encoder)" --> |
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181 | <div class="memitem"> |
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182 | <div class="memproto"> |
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183 | <table class="memname"> |
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184 | <tr>
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185 | <td class="memname">void encoder_rst_dx </td> |
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186 | <td>(</td> |
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187 | <td class="paramtype">char </td> |
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188 | <td class="paramname"> <em>encoder</em> </td> |
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189 | <td> ) </td> |
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190 | 1398 | cmar | <td></td> |
191 | 1371 | chihsiuh | </tr>
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192 | </table>
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193 | </div>
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194 | <div class="memdoc"> |
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195 | |||
196 | <p>
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197 | Reset distance counter. |
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198 | <p>
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199 | Resets the distance accumulator for the specified encoder.<p>
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200 | <dl compact><dt><b>Parameters:</b></dt><dd> |
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201 | <table border="0" cellspacing="2" cellpadding="0"> |
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202 | <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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203 | </table>
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204 | </dl>
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205 | |||
206 | 1398 | cmar | <p>References <a class="el" href="encoders_8h_source.html#l00024">LEFT</a>, and <a class="el" href="encoders_8h_source.html#l00028">RIGHT</a>.</p> |
207 | 1371 | chihsiuh | |
208 | </div>
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209 | </div><p> |
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210 | <a class="anchor" name="gd89387a19e48bee58885735099eabeed"></a><!-- doxytag: member="encoders.h::encoder_wait" ref="gd89387a19e48bee58885735099eabeed" args="(int nReadings)" --> |
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211 | <div class="memitem"> |
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212 | <div class="memproto"> |
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213 | <table class="memname"> |
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214 | <tr>
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215 | <td class="memname">void encoder_wait </td> |
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216 | <td>(</td> |
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217 | <td class="paramtype">int </td> |
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218 | <td class="paramname"> <em>n</em> </td> |
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219 | <td> ) </td> |
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220 | 1398 | cmar | <td></td> |
221 | 1371 | chihsiuh | </tr>
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222 | </table>
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223 | </div>
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224 | <div class="memdoc"> |
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225 | |||
226 | <p>
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227 | Waits for the next n encoder reading, then returns. |
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228 | <p>
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229 | Waits for the next n encoder reading, then returns.<p>
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230 | <dl compact><dt><b>Parameters:</b></dt><dd> |
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231 | <table border="0" cellspacing="2" cellpadding="0"> |
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232 | <tr><td valign="top"></td><td valign="top"><em>n</em> </td><td></td></tr> |
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233 | </table>
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234 | </dl>
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235 | |||
236 | </div>
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237 | </div><p> |
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238 | </div>
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239 | 1398 | cmar | <hr size="1"><address style="text-align: right;"><small>Generated on Mon Sep 7 19:07:28 2009 for libdragonfly by |
240 | 1371 | chihsiuh | <a href="http://www.doxygen.org/index.html"> |
241 | 1398 | cmar | <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.9 </small></address> |
242 | 1371 | chihsiuh | </body>
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243 | </html> |