enc03r.h File Reference

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Data Structures
struct	_enc03r_context

Functions
enc03r_context	enc03r_init (int pin, float aref)
void	enc03r_close (enc03r_context dev)
upm_result_t	enc03r_update (enc03r_context dev)
upm_result_t	enc03r_calibrate (const enc03r_context dev, unsigned int samples)
float	enc03r_calibration_value (const enc03r_context dev)
float	enc03r_angular_velocity (const enc03r_context dev)
void	enc03r_set_offset (const enc03r_context dev, float offset)
void	enc03r_set_scale (const enc03r_context dev, float scale)
float	enc03r_get_normalized (const enc03r_context dev)

Typedefs
typedef struct _enc03r_context *	enc03r_context

Function Documentation

enc03r_context enc03r_init	(	int	pin,
		float	aref
	)

ENC03R sensor constructor

Parameters

pin	Analog pin to use
vref	Reference voltage to use; default is 5.0 V

Returns

Device context

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void enc03r_close

(

enc03r_context

dev

)

ENC03R destructor

Parameters

dev	Device context

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upm_result_t enc03r_update

(

enc03r_context

dev

)

Update the internal state with the current reading. This function must be called prior to calling enc03r_angular_velocity().

Parameters

dev	Device context

Returns

UPM result

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upm_result_t enc03r_calibrate	(	const enc03r_context	dev,
		unsigned int	samples
	)

Calibrates the sensor by determining an analog reading over many samples with no movement of the sensor. This must be done before attempting to use the sensor.

Parameters

dev	Device context
samples	Number of samples to use for calibration

Returns

UPM result

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float enc03r_calibration_value

(

const enc03r_context

dev

)

Returns the currently stored calibration value

Parameters

dev	Device context

Returns

Current calibration value

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float enc03r_angular_velocity

(

const enc03r_context

dev

)

Return the computed Angular Velocity in degrees per second. You must have called encr03r_update() prior to calling this function.

Parameters

dev	Device context

Returns

Computed angular velocity

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void enc03r_set_offset	(	const enc03r_context	dev,
		float	offset
	)

Set sensor offset. The offste is applied to the return value before scaling. Default is 0.

Parameters

dev	Device context
scale	Scale to apply to value

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void enc03r_set_scale	(	const enc03r_context	dev,
		float	scale
	)

Set sensor scale. The return value is scaled by this value before the offset is applied. Default is 1.0.

Parameters

dev	Device context
scale	Offset to apply to value

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float enc03r_get_normalized

(

const enc03r_context

dev

)

Get a normalized ADC value from the sensor. The return value will be between 0.0 (indicating no voltage) and 1.0 indicating max voltage (aref). encr03r_update() must be called prior to calling this function.

Parameters

dev	Device context

Returns

The normalized reading from the ADC.

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Typedef Documentation

typedef struct _enc03r_context * enc03r_context

Device context