Revision 773
Commented some of the encoder functions.
| encoders.c | ||
|---|---|---|
| 45 | 45 |
|
| 46 | 46 |
void encoder_recv_complete(){
|
| 47 | 47 |
|
| 48 |
int dx; |
|
| 48 |
int dx;
|
|
| 49 | 49 |
|
| 50 | 50 |
// usb_puts("[");usb_puti(left_dx);usb_puts(",");usb_puti(right_dx);usb_puts("]\r\n");
|
| 51 | 51 |
// usb_puts("\r\n");
|
| 52 | 52 |
data_ready++; |
| 53 | 53 |
|
| 54 |
delay_ms(ENCODER_DELAY); |
|
| 54 |
//delay_ms(ENCODER_DELAY);
|
|
| 55 | 55 |
|
| 56 | 56 |
spi_transfer(5); |
| 57 | 57 |
} |
| ... | ... | |
| 64 | 64 |
usb_puts(" ");
|
| 65 | 65 |
} |
| 66 | 66 |
|
| 67 |
/** |
|
| 68 |
* Initializes the encoders variables |
|
| 69 |
**/ |
|
| 67 | 70 |
void encoders_init(void){
|
| 68 | 71 |
int i; |
| 69 | 72 |
|
| ... | ... | |
| 93 | 96 |
spi_transfer(5); |
| 94 | 97 |
} |
| 95 | 98 |
|
| 99 |
/** |
|
| 100 |
* Returns the specified encoders value |
|
| 101 |
* |
|
| 102 |
* @param encoder this is the encoder that you want to read. Valid arguments |
|
| 103 |
* are LEFT and RIGHT |
|
| 104 |
* |
|
| 105 |
* @return the value of the specified encoder |
|
| 106 |
**/ |
|
| 96 | 107 |
int encoder_read(char encoder){
|
| 97 | 108 |
if(encoder==LEFT) |
| 98 | 109 |
return left_data; |
| ... | ... | |
| 108 | 119 |
char encoder_direction(char encoder){
|
| 109 | 120 |
return 0; |
| 110 | 121 |
} |
| 111 |
|
|
| 122 |
/** |
|
| 123 |
* Gets the velocity of the specified encoder. |
|
| 124 |
* |
|
| 125 |
* @param encoder the encoder that you want to read, use LEFT or RIGHT |
|
| 126 |
* |
|
| 127 |
* @return The velocity of the specified encoder. |
|
| 128 |
**/ |
|
| 112 | 129 |
int encoder_get_dx(char encoder) {
|
| 113 | 130 |
if(encoder==LEFT) |
| 114 | 131 |
return left_dx; |
| ... | ... | |
| 117 | 134 |
else return -1; |
| 118 | 135 |
} |
| 119 | 136 |
|
| 137 |
/** |
|
| 138 |
* Resets the value of the velocity global variable for the specified |
|
| 139 |
* encoder. |
|
| 140 |
* |
|
| 141 |
* @param encoder the encoder that you want to modify |
|
| 142 |
**/ |
|
| 120 | 143 |
void encoder_rst_dx(char encoder) {
|
| 121 | 144 |
if(encoder==LEFT) |
| 122 | 145 |
left_dx = 0; |
| ... | ... | |
| 124 | 147 |
right_dx = 0; |
| 125 | 148 |
} |
| 126 | 149 |
|
| 150 |
/** |
|
| 151 |
* Returns the current time count for the encoders. |
|
| 152 |
**/ |
|
| 127 | 153 |
int encoder_get_tc(void) {
|
| 128 | 154 |
return timecount; |
| 129 | 155 |
} |
| 130 | 156 |
|
| 157 |
/** |
|
| 158 |
* Resets the time count for the encoders. |
|
| 159 |
**/ |
|
| 131 | 160 |
void encoder_rst_tc(void) {
|
| 132 | 161 |
timecount = 0; |
| 133 | 162 |
} |
| ... | ... | |
| 180 | 209 |
|
| 181 | 210 |
recv_count=0; |
| 182 | 211 |
|
| 212 |
//Parse the encoder data, comes in over 5 bytes 16 bits per encoder, |
|
| 213 |
// second is offset by 1 bit. |
|
| 183 | 214 |
if(buf_index == 0) |
| 184 | 215 |
right_data_buf |= ((short)data)<<8 & 0xff00; |
| 185 | 216 |
|
| ... | ... | |
| 231 | 262 |
right_data_buf = 0; |
| 232 | 263 |
|
| 233 | 264 |
|
| 234 |
if(left_data < INVALID) {
|
|
| 265 |
if(left_data < INVALID) { //Valid? I have no idea what being less than invalid means - KWoo
|
|
| 235 | 266 |
//Put new data onto data array |
| 236 | 267 |
left_data_array_put(left_data); |
| 237 | 268 |
|
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