vexencoder.h File Reference

Header for the encoder driver. More...

Go to the source code of this file.

Data Structures
struct	_vexQuadEncoder_t
	Holds information relating to an encoder. More...

Typedefs
typedef struct _vexQuadEncoder_t	vexQuadEncoder_t
	Holds information relating to an encoder. More...

Enumerations
enum	tVexQuadEncoderChannel {   kVexQuadEncoder_1 = 0, kVexQuadEncoder_2, kVexQuadEncoder_3, kVexQuadEncoder_4,   kVexQuadEncoder_5, kVexQuadEncoder_Num }
	Encoder channel number. More...

Functions
void	vexEncoderInit (void)
	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 (void)
	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

Header for the encoder driver.

Typedef Documentation

typedef struct _vexQuadEncoder_t vexQuadEncoder_t

Holds information relating to an encoder.

Note

pin refers to the digital pin 1 through 12, port refers to the STM32 port, GPIOA, GPIOB etc. pad refers to the bit on the digital port 0 through 15

Enumeration Type Documentation

enum tVexQuadEncoderChannel

Encoder channel number.

Enumerator
kVexQuadEncoder_1
kVexQuadEncoder_2
kVexQuadEncoder_3
kVexQuadEncoder_4
kVexQuadEncoder_5
kVexQuadEncoder_Num

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