wheel_encoder.h

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#ifndef WHEEL_ENCODER_H // Include guard.
#define WHEEL_ENCODER_H
#include "pico/stdlib.h"
 
// Definitions.
// ----------------------------------------------------------------------------
//
 
#define WHEEL_ENC_CYCLE_PULSE 20
#define WHEEL_ENC_DIST_PER_PULSE (204.203f / 20.0f)
#define WHEEL_ENC_SEC_TO_MSEC 1000.0f
 // End of encoder_driver_constants group.
 
// Type definitions.
// ----------------------------------------------------------------------------
//
 
typedef struct wheel_encoder
{
    uint64_t prev_time;          
    uint     pulse_count;        
    float    distance_traversed; 
} wheel_encoder_t;
 
// Function prototypes.
// ----------------------------------------------------------------------------
//
 
float wheel_enc_get_time_diff(uint64_t current_time, uint64_t prev_time);
float wheel_enc_get_speed(float time_elapsed, bool is_pulse);
 
#endif // WHEEL_ENCODER_H
 
// End of file driver/encoder/wheel_encoder.h.