25 #define ENCODER_LEFT 0
26 #define ENCODER_RIGHT 1
29 #define MOTOR_MICROMETERS_PER_ENCODER_COUNT 63 //changed to 63 Um down from 66
31 #define MOTOR_WHEEL_BASE_MM 78
45 void encoderInit(
void);
55 int32 encoderGetTicks(uint32 enc);
64 int32 encoderGetDirection(uint32 enc);
73 int32 encoderGetVelocity(uint32 enc);
83 int32 encoderDeltaTicks(uint32
new, uint32 old);
91 void encoderPoseUpdate(
void);
99 void encoderPoseClear(
void);
108 void encoderGetPose(
Pose* posePtr);
117 void encoderSetPose(
Pose* posePtr);
125 uint32 encoderGetOdometer(
void);