encCtrl.h

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00001 #ifndef ENC_CTRL_H
00002 #define ENC_CTRL_H
00003 
00015 #include "robotParams.h"
00016 
00017 
00023 enum EncDirSetting {
00024   ENC_CCW_TO_PLUSE = -1, 
00025   ENC_CW_TO_PLUSE = +1, 
00026 };
00027 
00028 
00029 #ifndef ENC_PULSE
00030 #define ENC_PULSE 512 * 4       
00031 #endif
00032 
00033 
00039 typedef struct {
00040   short diff;           
00041   unsigned short prev;          
00042   unsigned char id;             
00043   char enc_direction;   
00044   int total;                    
00045 } encInfo_t;
00046 
00047 
00048 #include "cpp_extern_macro.h"
00049 BEGIN_C_DECLS;
00050 
00051 extern void initEnc(void);
00052 extern void initEncInfo(const unsigned char id, encInfo_t *enc);
00053 extern void updateEncDiff(encInfo_t *enc);
00054 extern int getEncDiff(encInfo_t *enc);
00055 
00056 END_C_DECLS;
00057 #endif /* !ENC_CTRL_H */
00058