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Revision 854

Added by Justin Scheiner over 15 years ago

Did a lot of cleaning up and commenting. Made the error codes returned
by encoder_read more explicit - so if you get weird values check the documentation.

A lot of stubs and incomplete code, I made these things explicit in the source and documentation.

View differences:

encoders.h
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/**
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 *
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 * @file encoders.h
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 * @brief Contains functions for reading encoder values.
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 *
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 * Contains high and low level functions for reading encoders
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 * including reading out total distance covered, and
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 * eventually velocity.
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 *
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 * @author Colony Project, CMU Robotics Club
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*/
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#ifndef __ENCODERS_H__


  		




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#define __ENCODERS_H__


  		




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#define RIGHT 1


  		




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#ifndef LEFT


  		




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	#define LEFT 0


  		




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#endif


  		




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#ifndef LEFT


  		




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	#define LEFT 0


  		




  
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#ifndef RIGHT


  		




  
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	#define RIGHT 1


  		




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#endif


  		




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#define INVALID 1024


  		




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#define MAGNET_FAILURE 1025


  		




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/** @brief Magnet misaligned - likely distance from encoder problem. **/


  		




  
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#define ENCODER_MAGNET_FAILURE 1025


  		




  
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/** @brief Encoder misaligned - likely on XY plane. **/


  		




  
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#define ENCODER_MISALIGNED 1027


  		




  
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/** @brief Not enough time has passed - encoders not initialized in hardware. **/


  		




  
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#define ENCODER_DATA_NOT_READY 1026


  		




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//delay_ms argument after a full read is complete


  		




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#define ENCODER_DELAY 20


  		




  ......




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#define OCF _BV(4)


  		




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#define COF _BV(3)


  		




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//Data invlalid alarm (May be invalid):


  		




  
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//Data invalid alarm (May be invalid):


  		




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#define LIN _BV(2)


  		




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#define MagINCn _BV(1)


  		




  ......




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#define BUFFER_SIZE 23


  		




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/** @brief Initialize encoders. **/


  		




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void encoders_init(void);


  		




  
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/** @brief Read instantaneous encoder value. **/


  		




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int encoder_read(char encoder);


  		




  
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/** @brief Currently a stub - DO NOT Use. **/


  		




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char encoder_direction(char encoder);


  		




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void encoders_print_data_array(void);


  		




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/** @brief Get total distance traveled. **/


  		




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int encoder_get_dx(char encoder);


  		




  
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/** @brief Reset distance counter. **/


  		




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void encoder_rst_dx(char encoder);


  		




  
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/** @brief Get time count: The number of encoder reads that have occurred. **/


  		




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int encoder_get_tc(void);


  		




  
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/** @brief Reset the time count. **/


  		




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void encoder_rst_tc(void);


  		




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/** @brief Still untested, so use at your own risk. **/


  		




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int encoder_get_v(char encoder);


  		




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//waits for the next encoder reading, then returns


  		




  
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/** @brief Waits for the next encoder reading, then returns. **/


  		




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void encoder_wait( int nReadings );


  		




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#endif


  		












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