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encoder.h

Go to the documentation of this file.

#ifndef ENCODER_H
#define ENCODER_H

/*
   encoder.h

   Encoder declarations

   An encoder converts shaft or scale position to counts. If
   calibrating, calls to getCounts() with the position at which the
   index pulse occurs will reset the counts value to 0. Index pulses
   "occur" when the position passed to getCounts is a multiple of
   2 PI.

   Modification history:

   14-Apr-2000 WPS added _attribute__((unused)) to encoder_h
   17-Mar-1998  FMP added section arg to encoderIniLoad()
   18-Dec-1997  FMP took out C++ interface
   16-Jun-1997  FMP added index
   24-Apr-1997  FMP added encoderIniLoad(); removed inifile
   17-Apr-1997  FMP split into C and C++ portions
*/

/* ident tag */
#ifndef __GNUC__
#ifndef __attribute__
#define __attribute__(x)
#endif
#endif


static char __attribute__((unused)) encoder_h[] = "$Id: encoder.h,v 1.2 2000/10/27 20:34:42 terrylr Exp $";

typedef struct
{
  /* parameters */
  int countsPerRev; /* counts per motor shaft revolution */

  /* internal vars */
  int configured;
  int counts;
  int calibrating;
  double offset;
  double lastPosition;
  int index;                    /* count where index pulse was */

} ENCODER_STRUCT;

#ifdef __cplusplus
extern "C" {
#endif

extern int encoderInit(ENCODER_STRUCT * enc);
extern int encoderSetCountsPerRev(ENCODER_STRUCT * enc, int countsPerRev);
extern int encoderGetCountsPerRev(ENCODER_STRUCT * enc);
extern int encoderGetCounts(ENCODER_STRUCT * enc, double position);
extern int encoderCalibrate(ENCODER_STRUCT * enc);
extern int encoderNoCalibrate(ENCODER_STRUCT * enc);
extern int encoderIsCalibrating(ENCODER_STRUCT * enc);
extern int encoderIniLoad(ENCODER_STRUCT * enc, const char * filename, const char *section);

#ifdef __cplusplus
}
#endif

#endif /* ENCODER_H */

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