12 #include "HAL/AnalogTrigger.h"
13 #include "HAL/Types.h"
15 enum HAL_EncoderIndexingType : int32_t {
18 HAL_kResetOnFallingEdge,
19 HAL_kResetOnRisingEdge
21 enum HAL_EncoderEncodingType : int32_t {
30 HAL_EncoderHandle HAL_InitializeEncoder(
31 HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
32 HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
33 HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
35 void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
36 int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
37 int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status);
38 int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
40 void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
41 double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status);
42 void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle,
double maxPeriod,
44 HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
46 HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
48 double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status);
49 double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status);
50 void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle,
double minRate,
52 void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
53 double distancePerPulse, int32_t* status);
54 void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
55 HAL_Bool reverseDirection, int32_t* status);
56 void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
57 int32_t samplesToAverage, int32_t* status);
58 int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
61 void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
62 HAL_Handle digitalSourceHandle,
63 HAL_AnalogTriggerType analogTriggerType,
64 HAL_EncoderIndexingType type, int32_t* status);
66 int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
69 double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
72 double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
75 HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
76 HAL_EncoderHandle encoderHandle, int32_t* status);