wheel_encoder.h File Reference

Header file for the wheel encoder drivers. More...

#include "pico/stdlib.h"

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Data Structures
struct	wheel_encoder
	Struct to store global encoder data. More...

Macros
#define	WHEEL_ENC_CYCLE_PULSE   20
	Number of encoder pulses per 1 full rotation.
#define	WHEEL_ENC_DIST_PER_PULSE   (204.203f / 20.0f)
	Distance travelled per encoder tick in mm.
#define	WHEEL_ENC_SEC_TO_MSEC   1000.0f
	Conversion from seconds to milliseconds.

Typedefs
typedef struct wheel_encoder	wheel_encoder_t
	Struct to store global encoder data. More...

Functions
float	wheel_enc_get_speed (float time_elapsed, bool is_pulse)
	Get the speed in either pulses/second or mm/second. More...
float	wheel_enc_get_time_diff (uint64_t current_time, uint64_t prev_time)
	Get the time difference in ms. More...

Detailed Description

Header file for the wheel encoder drivers.

Author

Bryan Seah

Version

0.1

Date

2023-11-26

Copyright

Copyright (c) 2023

Typedef Documentation

wheel_encoder_t

typedef struct wheel_encoder wheel_encoder_t

Struct to store global encoder data.

Function Documentation

wheel_enc_get_speed()

float wheel_enc_get_speed	(	float	time_elapsed,
		bool	is_pulse
	)

Get the speed in either pulses/second or mm/second.

Parameters

[in]	time_elapsed	Time elapsed in ms
[in]	is_pulse	True if speed is in pulses/second, false if speed is in mm/second

Returns

float Speed in either pulses/second or mm/second

References WHEEL_ENC_DIST_PER_PULSE, and WHEEL_ENC_SEC_TO_MSEC.

wheel_enc_get_time_diff()

float wheel_enc_get_time_diff	(	uint64_t	current_time,
		uint64_t	prev_time
	)

Get the time difference in ms.

Parameters

[in]	current_time	Current time in us
[in]	prev_time	Previous time in us

Returns

float Time difference in ms

References WHEEL_ENC_SEC_TO_MSEC.