root / branches / simulator / lib / include / libdragonfly / encoders.h @ 943
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1 | 943 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file encoders.h
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28 | * @brief Contains functions for reading encoder values.
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29 | *
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30 | * Contains high and low level functions for reading encoders
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31 | * including reading out total distance covered, and
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32 | * eventually velocity.
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | **/
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36 | |||
37 | /**
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38 | * @defgroup encoders Encoders
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39 | *
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40 | * @brief Handles the encoders.
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41 | *
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42 | * Functions to read from the encoders, which tell
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43 | * the distance the robot has travelled.
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44 | *
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45 | * @{
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46 | **/
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47 | |||
48 | #ifndef __ENCODERS_H__
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49 | #define __ENCODERS_H__
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50 | |||
51 | #ifndef LEFT
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52 | #define LEFT 0 |
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53 | #endif
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54 | #ifndef RIGHT
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55 | #define RIGHT 1 |
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56 | #endif
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57 | |||
58 | /** @brief Magnet misaligned - likely distance from encoder problem. **/
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59 | #define ENCODER_MAGNET_FAILURE 1025 |
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60 | /** @brief Encoder misaligned - likely on XY plane. **/
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61 | #define ENCODER_MISALIGNED 1027 |
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62 | /** @brief Not enough time has passed - encoders not initialized in hardware. **/
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63 | #define ENCODER_DATA_NOT_READY 1026 |
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64 | |||
65 | //delay_ms argument after a full read is complete
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66 | #define ENCODER_DELAY 20 |
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67 | |||
68 | #define MIN_V (-100) |
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69 | #define MAX_V 100 |
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70 | |||
71 | //Data invalid flags (hardware failure):
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72 | #define OCF _BV(4) |
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73 | #define COF _BV(3) |
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74 | |||
75 | //Data invalid alarm (May be invalid):
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76 | #define LIN _BV(2) |
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77 | |||
78 | #define MagINCn _BV(1) |
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79 | #define MagDECn _BV(0) |
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80 | |||
81 | #define BUFFER_SIZE 23 |
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82 | |||
83 | /**
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84 | * @brief Initialize encoders.
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85 | *
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86 | * Initializes encoder variables and the hardware interface.
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87 | **/
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88 | void encoders_init(void); |
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89 | |||
90 | /**
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91 | * @brief Read instantaneous encoder value.
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92 | *
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93 | * @param encoder this is the encoder that you want to read. Valid arguments
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94 | * are LEFT and RIGHT
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95 | *
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96 | * @return the value of the specified encoder
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97 | **/
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98 | int encoder_read(char encoder); |
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99 | |||
100 | /**
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101 | * @brief Get total distance traveled.
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102 | *
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103 | * Gets the total distance covered by the specified encoder (in encoder clicks)
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104 | *
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105 | * @param encoder the encoder that you want to read, use LEFT or RIGHT
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106 | *
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107 | * @return The distance covered by the specified encoder.
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108 | **/
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109 | int encoder_get_dx(char encoder); |
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110 | |||
111 | /**
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112 | * @brief Reset distance counter.
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113 | *
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114 | * Resets the distance accumulator for the specified
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115 | * encoder.
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116 | *
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117 | * @param encoder the encoder that you want to reset distance for
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118 | **/
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119 | void encoder_rst_dx(char encoder); |
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120 | |||
121 | /**
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122 | * @brief Returns the number of encoder reads that have occurred.
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123 | *
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124 | * Returns the number of encoder reads that have occurred.
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125 | *
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126 | * @return The time count.
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127 | */
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128 | int encoder_get_tc(void); |
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129 | |||
130 | /**
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131 | * @brief Resets the encoder read counter.
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132 | */
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133 | void encoder_rst_tc(void); |
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134 | |||
135 | /**
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136 | * @brief Waits until n encoder reads have occurred.
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137 | *
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138 | * Waits until n encoder reads have occurred.
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139 | * Counter is reset on function's exit.
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140 | *
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141 | * @param n
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142 | */
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143 | void encoder_wait( int nReadings ); |
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144 | |||
145 | /**@}**/ //end group |
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146 | |||
147 | #endif
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