root / trunk / code / projects / mapping / odometry / encoders.h @ 872
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1 | 723 | justin | #define RIGHT 1 |
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2 | #ifndef LEFT
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3 | #define LEFT 0 |
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4 | #endif
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5 | #ifndef LEFT
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6 | #define LEFT 0 |
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7 | #endif
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8 | #define INVALID 1024 |
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9 | #define MAGNET_FAILURE 1025 |
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10 | |||
11 | //Data invalid flags (hardware failure):
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12 | #define OCF _BV(4) |
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13 | #define COF _BV(3) |
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14 | |||
15 | //Data invlalid alarm (May be invalid):
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16 | #define LIN _BV(2) |
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17 | |||
18 | #define MagINCn _BV(1) |
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19 | #define MagDECn _BV(0) |
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20 | |||
21 | #define BUFFER_SIZE 23 |
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22 | |||
23 | void encoder_init(void); |
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24 | int encoder_read(char encoder); |
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25 | char encoder_direction(char encoder); |
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26 | |||
27 | int encoder_get_dx(char encoder); |
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28 | void encoder_rst_dx(char encoder); |
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29 | int encoder_get_tc(void); |
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30 | 730 | justin | void encoder_rst_tc(void); |