This object stores encoder ticks in a signed 4 byte int sized variable. More...

#include <quadrature_encoder.h>

Public Member Functions
bool	Start (const int basePin, const int numberOfEncoders)
	Start a new cog with the encoder monitor. More...

void	Stop (void)

int	GetReading (const int index)

Detailed Description

This object stores encoder ticks in a signed 4 byte int sized variable.

This means that there is some chance of overflow the encoder is used in a single direction continuously. To calculate the maximum distance in a single direction use the following equation:

maxDistanceInMiles = (2^31)* wheelDiameterInFeet * pi / ticksPerWheelRevolution /5280

For a robot with 6" diameter wheels and 144 ticks per wheel revolution the maximum distance in a single direction is 4,436 mi.

However, for a robot with 6" diameter wheels, a 2048 tick encoder on the motor shaft and a 100:1 gearbox, the maximum distance is 3.1 miles.

Therefore, you should chose your encoder, gearbox, and wheel combination to match the precision that you need (distance per tick) while minimize the total ticks per revolution.

Member Function Documentation

int QuadratureEncoder::GetReading ( const int index)

inline

bool QuadratureEncoder::Start	(	const int	basePin,
		const int	numberOfEncoders
	)

inline

Start a new cog with the encoder monitor.

Parameters

basePin	First pin of encoder 1. Second pin is basePin+1. Additional pins for other encoders are contiguous starting with basePin+2.
numberOfEncoders	Number of encoders [1..16] to monitor.

Returns: True if a cog is successfully started, false otherwise.

Here is the call graph for this function:

void QuadratureEncoder::Stop ( void )

inline

The documentation for this class was generated from the following file:

quadrature_encoder.h

Public Member Functions

Detailed Description

Member Function Documentation