encoder.h

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#ifndef ENCODERS_H_
#define ENCODERS_H_

/******** Defines ********/

#define ENCODER_LEFT            0
#define ENCODER_RIGHT            1
//Micrometerper Encoder count: for 66, robot does not go far enough (1138 mm / 1200 mm)
//Micrometerper Encoder count: for 62, robot goes too far (1211 mm / 1200 mm)
#define MOTOR_MICROMETERS_PER_ENCODER_COUNT 63 //changed to 63 Um down from 66
// wheel base is in mm.  is actually 78, BUT (TURNS TOO SMALL)                       81, 83, 89 TURNS TOO BIG
#define MOTOR_WHEEL_BASE_MM  78



/******** Functions ********/


void encoderInit(void);


int32 encoderGetTicks(uint32 enc);


int32 encoderGetDirection(uint32 enc);


int32 encoderGetVelocity(uint32 enc);


int32 encoderDeltaTicks(uint32 new, uint32 old);


void encoderPoseUpdate(void);


void encoderPoseClear(void);


void encoderGetPose(Pose* posePtr);


void encoderSetPose(Pose* posePtr);


uint32 encoderGetOdometer(void);


#endif /* ENCODERS_H_ */