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https://github.com/wpilibsuite/allwpilib
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66 lines
3.2 KiB
C
66 lines
3.2 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include "HAL/Handles.h"
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extern "C" {
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enum EncoderIndexingType {
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HAL_kResetWhileHigh,
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HAL_kResetWhileLow,
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HAL_kResetOnFallingEdge,
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HAL_kResetOnRisingEdge
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};
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enum EncoderEncodingType { HAL_Encoder_k1X, HAL_Encoder_k2X, HAL_Encoder_k4X };
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HalEncoderHandle initializeEncoder(
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uint8_t port_a_module, uint32_t port_a_pin, bool port_a_analog_trigger,
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uint8_t port_b_module, uint32_t port_b_pin, bool port_b_analog_trigger,
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bool reverseDirection, EncoderEncodingType encodingType, int32_t* status);
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void freeEncoder(HalEncoderHandle encoder_handle, int32_t* status);
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int32_t getEncoder(HalEncoderHandle encoder_handle, int32_t* status);
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int32_t getEncoderRaw(HalEncoderHandle encoder_handle, int32_t* status);
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int32_t getEncoderEncodingScale(HalEncoderHandle encoder_handle,
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int32_t* status);
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void resetEncoder(HalEncoderHandle encoder_handle, int32_t* status);
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int32_t getEncoderPeriod(HalEncoderHandle encoder_handle, int32_t* status);
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void setEncoderMaxPeriod(HalEncoderHandle encoder_handle, double maxPeriod,
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int32_t* status);
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uint8_t getEncoderStopped(HalEncoderHandle encoder_handle, int32_t* status);
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uint8_t getEncoderDirection(HalEncoderHandle encoder_handle, int32_t* status);
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double getEncoderDistance(HalEncoderHandle encoder_handle, int32_t* status);
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double getEncoderRate(HalEncoderHandle encoder_handle, int32_t* status);
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void setEncoderMinRate(HalEncoderHandle encoder_handle, double minRate,
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int32_t* status);
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void setEncoderDistancePerPulse(HalEncoderHandle encoder_handle,
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double distancePerPulse, int32_t* status);
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void setEncoderReverseDirection(HalEncoderHandle encoder_handle,
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uint8_t reverseDirection, int32_t* status);
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void setEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
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int32_t samplesToAverage, int32_t* status);
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int32_t getEncoderSamplesToAverage(HalEncoderHandle encoder_handle,
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int32_t* status);
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void setEncoderIndexSource(HalEncoderHandle encoder_handle, uint32_t pin,
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uint8_t analogTrigger, EncoderIndexingType type,
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int32_t* status);
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int32_t getEncoderFPGAIndex(HalEncoderHandle encoder_handle, int32_t* status);
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double getEncoderDecodingScaleFactor(HalEncoderHandle encoder_handle,
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int32_t* status);
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double getEncoderDistancePerPulse(HalEncoderHandle encoder_handle,
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int32_t* status);
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EncoderEncodingType getEncoderEncodingType(HalEncoderHandle encoder_handle,
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int32_t* status);
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}
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