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encoder.h

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/*! \file encoder.h \brief Quadrature Encoder reader/driver. */
//*****************************************************************************
//
// File Name    : 'encoder.h'
// Title        : Quadrature Encoder reader/driver
// Author       : Pascal Stang - Copyright (C) 2003
// Created      : 2003.01.26
// Revised      : 2003.01.26
// Version      : 0.1
// Target MCU   : Atmel AVR Series
// Editor Tabs  : 4
//
// Description  :
//
// NOTE: This code is currently below version 1.0, and therefore is considered
// to be lacking in some functionality or documentation, or may not be fully
// tested.  Nonetheless, you can expect most functions to work.
//
// This code is distributed under the GNU Public License
//      which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************

#ifndef ENCODER_H
#define ENCODER_H

#include "global.h"

// include encoder configuration file
#include "encoderconf.h"

// constants/macros/typdefs

//! Encoder state structure
//   stores the position and other information from each encoder
typedef struct struct_EncoderState
{   
    u08 position;       ///< position
    u08 velocity;       ///< velocity
} EncoderStateType;


// functions

//! encoderInit() initializes hardware and encoder position readings
//      Run this init routine once before using any other encoder function.
void encoderInit(void);

//! encoderOff() disables hardware and stops encoder position updates
void encoderOff(void);

//! encoderGetPosition() reads the current position of the encoder 
s32 encoderGetPosition(u08 encoderNum);

//! encoderSetPosition() sets the current position of the encoder
void encoderSetPosition(u08 encoderNum, s32 position);

#endif

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