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Encoder.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include <stdint.h>
11 
12 #include "HAL/AnalogTrigger.h"
13 #include "HAL/Types.h"
14 
15 enum HAL_EncoderIndexingType : int32_t {
16  HAL_kResetWhileHigh,
17  HAL_kResetWhileLow,
18  HAL_kResetOnFallingEdge,
19  HAL_kResetOnRisingEdge
20 };
21 enum HAL_EncoderEncodingType : int32_t {
22  HAL_Encoder_k1X,
23  HAL_Encoder_k2X,
24  HAL_Encoder_k4X
25 };
26 
27 #ifdef __cplusplus
28 extern "C" {
29 #endif
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,
34  int32_t* status);
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,
39  int32_t* status);
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,
43  int32_t* status);
44 HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
45  int32_t* status);
46 HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
47  int32_t* status);
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,
51  int32_t* status);
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,
59  int32_t* status);
60 
61 void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
62  HAL_Handle digitalSourceHandle,
63  HAL_AnalogTriggerType analogTriggerType,
64  HAL_EncoderIndexingType type, int32_t* status);
65 
66 int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
67  int32_t* status);
68 
69 double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
70  int32_t* status);
71 
72 double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
73  int32_t* status);
74 
75 HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
76  HAL_EncoderHandle encoderHandle, int32_t* status);
77 #ifdef __cplusplus
78 }
79 #endif