root / trunk / code / projects / libdragonfly / encoders.h @ 907
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1 | 868 | justin | /**
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2 | *
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3 | * @file encoders.h
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4 | * @brief Contains functions for reading encoder values.
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5 | *
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6 | * Contains high and low level functions for reading encoders
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7 | * including reading out total distance covered, and
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8 | * eventually velocity.
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9 | *
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10 | * @author Colony Project, CMU Robotics Club
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11 | */
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12 | |||
13 | /**
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14 | * @addtogroup encoders
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15 | * @{
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16 | **/
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17 | |||
18 | #ifndef __ENCODERS_H__
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19 | #define __ENCODERS_H__
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20 | |||
21 | |||
22 | #ifndef LEFT
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23 | #define LEFT 0 |
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24 | #endif
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25 | #ifndef RIGHT
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26 | #define RIGHT 1 |
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27 | #endif
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28 | |||
29 | /** @brief Magnet misaligned - likely distance from encoder problem. **/
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30 | #define ENCODER_MAGNET_FAILURE 1025 |
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31 | /** @brief Encoder misaligned - likely on XY plane. **/
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32 | #define ENCODER_MISALIGNED 1027 |
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33 | /** @brief Not enough time has passed - encoders not initialized in hardware. **/
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34 | #define ENCODER_DATA_NOT_READY 1026 |
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35 | |||
36 | //delay_ms argument after a full read is complete
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37 | #define ENCODER_DELAY 20 |
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38 | |||
39 | #define MIN_V (-100) |
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40 | #define MAX_V 100 |
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41 | |||
42 | //Data invalid flags (hardware failure):
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43 | #define OCF _BV(4) |
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44 | #define COF _BV(3) |
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45 | |||
46 | //Data invalid alarm (May be invalid):
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47 | #define LIN _BV(2) |
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48 | |||
49 | #define MagINCn _BV(1) |
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50 | #define MagDECn _BV(0) |
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51 | |||
52 | #define BUFFER_SIZE 23 |
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53 | |||
54 | /** @brief Initialize encoders. **/
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55 | void encoders_init(void); |
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56 | /** @brief Read instantaneous encoder value. **/
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57 | int encoder_read(char encoder); |
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58 | |||
59 | /** @brief Get total distance traveled. **/
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60 | int encoder_get_dx(char encoder); |
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61 | /** @brief Reset distance counter. **/
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62 | void encoder_rst_dx(char encoder); |
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63 | /** @brief Get time count: The number of encoder reads that have occurred. **/
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64 | int encoder_get_tc(void); |
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65 | /** @brief Reset the time count. **/
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66 | void encoder_rst_tc(void); |
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67 | |||
68 | /** @brief Waits for the next n encoder reading, then returns. **/
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69 | void encoder_wait( int nReadings ); |
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70 | |||
71 | /**@}**/ //end group |
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72 | |||
73 | #endif |