Quad Encoder driver. More...

#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "vex.h"

Functions
void	vexEncoderInit ()
	Initialize all the encoder data, counts to zero etc. More...

void	vexEncoderAdd (tVexQuadEncoderChannel channel, tVexDigitalPin pa, tVexDigitalPin pb)
	Add an encoder to the system. More...

void	vexEncoderStart (tVexQuadEncoderChannel channel)
	Start an encoder interrupt handler. More...

void	vexEncoderStop (tVexQuadEncoderChannel channel)
	Stop an encoder interrupt handler. More...

void	vexEncoderStartAll ()
	Start all encoder interrupt handlers. More...

int32_t	vexEncoderGet (int16_t channel)
	Get encoder count. More...

void	vexEncoderSet (int16_t channel, int32_t value)
	Get encoder count. More...

int16_t	vexEncoderGetId (int16_t channel)
	Get encoder id. More...

void	vexEncoderDebug (vexStream chp, int argc, char argv[])
	Send all encoder raw values and offsets to the console. More...

Detailed Description

Quad Encoder driver.

Function Documentation

void vexEncoderInit ( void )

Initialize all the encoder data, counts to zero etc.

void vexEncoderAdd	(	tVexQuadEncoderChannel	channel,
		tVexDigitalPin	pa,
		tVexDigitalPin	pb
	)

Add an encoder to the system.

Parameters

[in]	channel	The encoder channel
[in]	pa	The first input pin used by the encoder
[in]	pb	The second input pin used by the encoder

Setup the interrupt handlers for an encoder but do not enable them

void vexEncoderStart ( tVexQuadEncoderChannel channel)

Start an encoder interrupt handler.

Parameters

[in] channel The encoder channel to start the irq handler on

void vexEncoderStop ( tVexQuadEncoderChannel channel)

Stop an encoder interrupt handler.

Parameters

[in] channel The encoder channel to stop the irq handler on

void vexEncoderStartAll ( void )

Start all encoder interrupt handlers.

int32_t vexEncoderGet ( int16_t channel)

Get encoder count.

Parameters

[in] channel The encoder channel

Get an encoder count for a channel, we don't use the enumerated channel type so this can be used without warnings from other code in a callback. Typically the motor control code may call this and not know what type of encoder is being used, a quad encoder or an IME

void vexEncoderSet	(	int16_t	channel,
		int32_t	value
	)

Get encoder count.

Parameters

[in]	channel	The encoder channel
[in]	value	The value to set the encoder to

Set encoder count for a channel, this saves the value as an offset to the current count

int16_t vexEncoderGetId ( int16_t channel)

Get encoder id.

Parameters

[in] channel The encoder channel

Get an encoder id for a channel, we don't use the enumerated type so this can be used without warnings from other code in a callback. Typically the motor control code may call this and not know what type of encoder is being used, a quad encoder or an IME The encoder id is basically the pin number for inputA

void vexEncoderDebug	(	vexStream *	chp,
		int	argc,
		char *	argv[]
	)

Send all encoder raw values and offsets to the console.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	argc	The number of command line arguments
[in]	argv	An array of pointers to the command line args

Functions

Detailed Description

Function Documentation