encoder.h File Reference

Deals with who the encoder ticks and its translation to distance. More...

Go to the source code of this file.

Functions
void	encoderInit (void)
	Initializes the encoder. More...
int32	encoderGetTicks (uint32 enc)
	Initializes the encoder. More...
int32	encoderGetDirection (uint32 enc)
	Gets the current rotating direction of the encoder. More...
int32	encoderGetVelocity (uint32 enc)
	Gets the current velocity of the specified encoder. More...
int32	encoderDeltaTicks (uint32 new, uint32 old)
	Gets the difference between the two input ticks. More...
void	encoderPoseUpdate (void)
	Updates the encoder's position. More...
void	encoderPoseClear (void)
	Clears the x, y, theta and odometer values of the encoder. More...
void	encoderGetPose (Pose *posePtr)
	Gets the pose of the encoder and stores it in variables (x, y, theta) of where posePtr points to. More...
void	encoderSetPose (Pose *posePtr)
	Sets the pose of the encoder as variables of where posePtr points to. More...
uint32	encoderGetOdometer (void)
	Finds and returns the odometer reading in mm. More...

Detailed Description

Deals with who the encoder ticks and its translation to distance.

There is an assumption that encoder_pose_update() will be called on a regular basis to ensure accuracy. Keep updating in micrometers. The encoders have a resolution of 0.0625mm. That is, each tick represents a change of 0.0625 mm. Our pose is stored in micrometers and microradians. Each tick corresponds to 62.5 micrometers. Rounding to 63.

x,y coordinates are stored in micrometers theta is represented in microradians

Since

Mar 26, 2011

Author

James McLurkin

Function Documentation

int32 encoderDeltaTicks	(	uint32	new,
		uint32	old
	)

Gets the difference between the two input ticks.

Parameters

new	is the new encoder position
old	is the old encoder position

Returns

the difference between old and new position with rollover protection

int32 encoderGetDirection

(

uint32

enc)

Gets the current rotating direction of the encoder.

Parameters

enc	specifies which encoder (right or left) to look up

Returns

the current rotating direction

uint32 encoderGetOdometer

(

void

)

Finds and returns the odometer reading in mm.

Returns

odometer in mm

void encoderGetPose

(

Pose *

posePtr)

Gets the pose of the encoder and stores it in variables (x, y, theta) of where posePtr points to.

Parameters

posePtr

points to a Pose structure

Returns

void

int32 encoderGetTicks

(

uint32

enc)

Initializes the encoder.

Enables the peripherals. Sets the state of the odometer to 0,0,0.

Returns

void

int32 encoderGetVelocity

(

uint32

enc)

Gets the current velocity of the specified encoder.

Parameters

enc	specifies which encoder (right or left) to look up

Returns

the current velocity

void encoderInit

(

void

)

Initializes the encoder.

Enables the peripherals. Sets the state of the odometer to 0,0,0.

Returns

void

void encoderPoseClear

(

void

)

Clears the x, y, theta and odometer values of the encoder.

Returns

void

void encoderPoseUpdate

(

void

)

Updates the encoder's position.

Returns

void

void encoderSetPose

(

Pose *

posePtr)

Sets the pose of the encoder as variables of where posePtr points to.

Parameters

posePtr

points to a Pose structure

Returns

void