Encoder

Functions to use the encoders. More...

Collaboration diagram for Encoder:

Functions
int	mbot_encoder_init ()
	Initializes the encoder counters for channels 1-3. This also resets the encoder position to 0. More...
int	mbot_encoder_cleanup ()
	Stops the encoder counters. Recommended to be called at the end of the program. More...
int	mbot_encoder_read_delta (uint8_t ch)
	Reads the current delta of an encoder channel. More...
int	mbot_encoder_read_count (uint8_t ch)
	Reads the current count of an encoder channel. The count is a signed 32-bit integer that wraps around at +- 2^31. More...
int	mbot_encoder_write (uint8_t ch, int pos)
	Sets the current position of an encoder channel. Typically used to reset a counter to 0, but can set an arbitrary position. More...

Detailed Description

Functions to use the encoders.

<mbot/encoder/encoder.h>

Function Documentation

mbot_encoder_cleanup()

int mbot_encoder_cleanup

(

)

Stops the encoder counters. Recommended to be called at the end of the program.

Returns

int Returns 0 on success or -1 on failure.

mbot_encoder_init()

int mbot_encoder_init

(

)

Initializes the encoder counters for channels 1-3. This also resets the encoder position to 0.

Returns

int Returns 0 on success or -1 on failure

mbot_encoder_read_count()

int mbot_encoder_read_count

(

uint8_t

ch

)

Reads the current count of an encoder channel. The count is a signed 32-bit integer that wraps around at +- 2^31.

Parameters

ch	The channel to read from

Returns

int Returns the current count (signed 32-bit integer) or -1 if there is a problem.

mbot_encoder_read_delta()

int mbot_encoder_read_delta

(

uint8_t

ch

)

Reads the current delta of an encoder channel.

Parameters

ch	The channel to read from

Returns

int Returns the current delta (signed 32-bit integer) or -1 if there is a problem.

mbot_encoder_write()

int mbot_encoder_write	(	uint8_t	ch,
		int	pos
	)

Sets the current position of an encoder channel. Typically used to reset a counter to 0, but can set an arbitrary position.

Parameters

ch	The channel to write to
pos	The position to set

Returns

int Returns 0 on success, -1 on failure