#include <stdio.h>#include "inetfile.hh"#include "inifile.h"#include "rcs_prnt.hh"#include <math.h>#include "encoder.h"Include dependency graph for encoder.c:
Go to the source code of this file.
Defines | |
| #define | COUNTS_PER_REV_SET 0x01 |
| #define | ALL_SET (COUNTS_PER_REV_SET) |
| #define | TWO_PI (2.0 * 3.1415926535898) |
| #define | CALIBRATION_FUZZ 0.0001 |
Functions | |
| char | __attribute__ ((unused)) ident[]="$Id |
| int | encoderInit (ENCODER_STRUCT *enc) |
| int | encoderSetCountsPerRev (ENCODER_STRUCT *enc, int countsPerRev) |
| int | encoderGetCountsPerRev (ENCODER_STRUCT *enc) |
| int | encoderGetCounts (ENCODER_STRUCT *enc, double position) |
| int | encoderCalibrate (ENCODER_STRUCT *enc) |
| int | encoderNoCalibrate (ENCODER_STRUCT *enc) |
| int | encoderIsCalibrating (ENCODER_STRUCT *enc) |
| int | encoderIniLoad (ENCODER_STRUCT *enc, const char *filename, const char *section) |
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Definition at line 35 of file encoder.c. 00035 : encoder.c,v 1.2 2000/10/27 20:34:42 terrylr Exp $"; 00036 00037 #define COUNTS_PER_REV_SET 0x01 00038 #define ALL_SET (COUNTS_PER_REV_SET) 00039 00040 #define TWO_PI (2.0 * 3.1415926535898) 00041 #define CALIBRATION_FUZZ 0.0001 00042 00043 /* 00044 returns non-zero if a multiple of TWO_PI lies in range 00045 */ 00046 static int sawIndex(double pos, double lastPos) 00047 { 00048 if (pos <= 0.0 && lastPos >= 0.0) 00049 { 00050 return 1; 00051 } 00052 00053 if (pos >= 0.0 && lastPos <= 0.0) 00054 { 00055 return 1; 00056 } 00057 00058 if (pos - fmod(pos, TWO_PI) != lastPos - fmod(lastPos, TWO_PI)) 00059 { 00060 return 1; 00061 } 00062 00063 return 0; 00064 } |
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Definition at line 138 of file encoder.c. 00139 {
00140 if (0 == enc ||
00141 enc->configured != ALL_SET)
00142 {
00143 return -1;
00144 }
00145
00146 enc->calibrating = 1;
00147
00148 return 0;
00149 }
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Definition at line 112 of file encoder.c. 00113 {
00114 if (0 == enc ||
00115 enc->configured != ALL_SET)
00116 {
00117 return 0;
00118 }
00119
00120 if (enc->calibrating)
00121 {
00122 /* see if range [lastPosition, position] includes a multiple of
00123 TWO_PI. If so, we saw an index pulse */
00124 if (sawIndex(position, enc->lastPosition))
00125 {
00126 enc->offset = position - fmod(position, TWO_PI);
00127 enc->calibrating = 0;
00128 }
00129 }
00130
00131 enc->counts = (int) (((double) enc->countsPerRev) *
00132 ((position - enc->offset) / TWO_PI));
00133 enc->lastPosition = position;
00134
00135 return enc->counts;
00136 }
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Definition at line 101 of file encoder.c. 00102 {
00103 if (0 == enc ||
00104 ! (enc->configured & COUNTS_PER_REV_SET))
00105 {
00106 return 0;
00107 }
00108
00109 return enc->countsPerRev;
00110 }
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Definition at line 173 of file encoder.c. 00174 {
00175 #ifndef NO_STDIO_SUPPORT
00176
00177 int countsPerRev;
00178 int retval = 0;
00179 const char *inistring;
00180 #ifndef UNDER_CE
00181 FILE *fp;
00182
00183 if (NULL == (fp = fopen(filename, "r")))
00184 {
00185 rcs_print_error( "can't open ini file %s\n", filename);
00186 return -1;
00187 }
00188 #else
00189 INET_FILE *fp;
00190
00191 if (NULL == (fp = inet_file_open(filename, "r")))
00192 {
00193 rcs_print_error( "can't open ini file %s\n", filename);
00194 return -1;
00195 }
00196 #endif
00197
00198 if (NULL != (inistring = iniFind(fp, "COUNTS_PER_REV", section)))
00199 {
00200 #ifndef UNDER_CE
00201 if (1 != sscanf((char *) inistring, "%d", &countsPerRev))
00202 {
00203 /* found, but invalid */
00204 rcs_print_error( "invalid COUNTS_PER_REV: %s\n", inistring);
00205 retval = -1;
00206 }
00207 else
00208 {
00209 encoderSetCountsPerRev(enc, countsPerRev);
00210 }
00211 #else
00212 countsPerRev = atol(inistring);
00213 encoderSetCountsPerRev(enc, countsPerRev);
00214 #endif
00215
00216 }
00217
00218 /* close inifile */
00219 #ifndef UNDER_CE
00220 fclose(fp);
00221 #else
00222 inet_file_close(fp);
00223 #endif
00224
00225 return retval;
00226
00227 #else
00228
00229 return -1;
00230
00231 #endif
00232 }
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Definition at line 66 of file encoder.c. 00067 {
00068 if (0 == enc)
00069 {
00070 return -1;
00071 }
00072
00073 /* parameters */
00074 enc->countsPerRev = 0;
00075
00076 /* internal vars */
00077 enc->configured = 0;
00078 enc->counts = 0;
00079 enc->calibrating = 0;
00080 enc->offset = 0.0;
00081 enc->lastPosition = 0.0;
00082 enc->index = 0;
00083
00084 return 0;
00085 }
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Definition at line 163 of file encoder.c. 00164 {
00165 if (0 == enc)
00166 {
00167 return -1;
00168 }
00169
00170 return enc->calibrating;
00171 }
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Definition at line 151 of file encoder.c. 00152 {
00153 if (0 == enc)
00154 {
00155 return -1;
00156 }
00157
00158 enc->calibrating = 0;
00159
00160 return 0;
00161 }
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Definition at line 87 of file encoder.c. 00088 {
00089 if (0 == enc ||
00090 countsPerRev <= 0)
00091 {
00092 return -1;
00093 }
00094
00095 enc->countsPerRev = countsPerRev;
00096 enc->configured |= COUNTS_PER_REV_SET;
00097
00098 return 0;
00099 }
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1.2.11.1 written by Dimitri van Heesch,
© 1997-2001