Encoder.c File Reference

Encoder source code. More...

#include "r2r.h"
#include "Encoder.h"

Macros
#define	NUM_SSI_DATA2   5

Functions
void	encoderSPIInit (void)
	Initializes the SPI channels for the motor drivers, encoders, and RAM. More...
void	encoderRead (void)
	Updates value in sensor array. More...
void	zeroMotor1RawRelative (void)
	Reads value of motor 1 encoders and sets the relative angle to zero. More...
void	zeroMotor2RawRelative (void)
	Reads value of motor 2 encoders and sets the relative angle to zero. More...
void	resetMotor1RawRelative (void)
	Resets the relative counts on encoder 1. More...
void	resetMotor2RawRelative (void)
	Resets the relative counts on encoder 2. More...
int	readMotor1RawRelative (void)
	Reads value in encoderVal array for motor 1 and keeps track of multiturn counts. More...
int	readMotor2RawRelative (void)
	Reads value in encoderVal array for motor 2 and keeps track of multiturn counts. More...
float	readMotor2Speed (void)
float	readMotor1Speed (void)
float	readMotor1AngleRelative (void)
	Reads value in encoderVal array for motor 1 and keeps track of multiturn angles. More...
float	readMotor2AngleRelative (void)
	Reads value in encoderVal array for motor 2 and keeps track of multiturn angles. More...
float	readMotor1RadRelative (void)
float	readMotor2RadRelative (void)
int	readMotor2Raw (void)
	Reads value in encoderVal array for motor 2. More...
int	readMotor1Raw (void)
	Reads value in encoderVal array for motor 1. More...
float	readMotor1Angle (void)
	Reads value in encoderVal array for motor 1 and converts it to an angle. More...
float	readMotor2Angle (void)
	Reads value in encoderVal array for motor 2 and converts it to an angle. More...
float	readMotor1Rad (void)
float	readMotor2Rad (void)

Variables
uint32_t	pui32DataTx2 [NUM_SSI_DATA2]
uint32_t	pui32DataRx2 [NUM_SSI_DATA2]
uint32_t	ui32Index2
uint32_t	encoderVal [4]
int	modifier1 =0
int	last_motor_1_angle = 0
int	modifier2 =0
int	last_motor_2_angle = 0
int	zeroing1 = 0
int	zeroing2 = 0

Detailed Description

Encoder source code.

This file contains functions for initializing and reading from encoders.

Author

Benjamen Lim

Huan Weng

Blake Strebel

Function Documentation

encoderRead()

void encoderRead

(

void

)

Updates value in sensor array.

This function reads both encoder counts and stores them in an array

Comes after: spiInit();

Writes to: encoderVal array

encoderSPIInit()

void encoderSPIInit

(

void

)

Initializes the SPI channels for the motor drivers, encoders, and RAM.

Initializes SSI1 ~ 4 and their corresponding GPIO pins

Parameters

Void

Returns

Void

readMotor1Angle()

float readMotor1Angle

(

void

)

Reads value in encoderVal array for motor 1 and converts it to an angle.

Parameters

Void

Returns

The angle as a float

readMotor1AngleRelative()

float readMotor1AngleRelative

(

void

)

Reads value in encoderVal array for motor 1 and keeps track of multiturn angles.

This function reads out the angle and keeps track of it for multiple turns.

Parameters

Void

Returns

The angle as an int

readMotor1Raw()

int readMotor1Raw

(

void

)

Reads value in encoderVal array for motor 1.

The range for the read angle is 0 to 16383

Parameters

Void

Returns

The angle as an int

readMotor1RawRelative()

int readMotor1RawRelative

(

void

)

Reads value in encoderVal array for motor 1 and keeps track of multiturn counts.

This function reads out the angle and keeps track of it for multiple turns. The value ranges from -2,147,483,648 to 2,147,483,648. Each turn is 16383 counts

Parameters

Void

Returns

The counts as an int

readMotor2Angle()

float readMotor2Angle

(

void

)

Reads value in encoderVal array for motor 2 and converts it to an angle.

Parameters

Void

Returns

The angle as a float

readMotor2AngleRelative()

float readMotor2AngleRelative

(

void

)

Reads value in encoderVal array for motor 2 and keeps track of multiturn angles.

This function reads out the angle and keeps track of it for multiple turns.

Parameters

Void

Returns

The angle as an int

readMotor2Raw()

int readMotor2Raw

(

void

)

Reads value in encoderVal array for motor 2.

The range for the read angle is 0 to 16383

Parameters

Void

Returns

The angle as an int

readMotor2RawRelative()

int readMotor2RawRelative

(

void

)

Reads value in encoderVal array for motor 2 and keeps track of multiturn counts.

This function reads out the angle and keeps track of it for multiple turns. The value ranges from -2,147,483,648 to 2,147,483,648

Parameters

Void

Returns

The counts as an int

resetMotor1RawRelative()

void resetMotor1RawRelative

(

void

)

Resets the relative counts on encoder 1.

Parameters

Void

Returns

Void

resetMotor2RawRelative()

void resetMotor2RawRelative

(

void

)

Resets the relative counts on encoder 2.

Parameters

Void

Returns

Void

zeroMotor1RawRelative()

void zeroMotor1RawRelative

(

void

)

Reads value of motor 1 encoders and sets the relative angle to zero.

Parameters

Void

Returns

Void

zeroMotor2RawRelative()

void zeroMotor2RawRelative

(

void

)

Reads value of motor 2 encoders and sets the relative angle to zero.

Parameters

Void

Returns

The angle as a float