EncoderReader Class Reference
[Miscellaneous Library Utilities]

#include <EncoderReader.hh>

Inherits Module.

List of all members.

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Detailed Description

Module to read encoder counts and compute axis position and speed.

The EncoderReader module periodcially reads encoder counts from the EncoderHW interface of the hardware layer and maintains position and velocity states for a single axis.

Public Member Functions
	EncoderReader (int index)
void	init (void)
void	uninit (void)
void	activate (void)
void	deactivate (void)
void	update (void)
void	reset (double pos)
void	resetRelPosition (void)
float	getPosition (void)
float	getRelPosition (void)
float	getSpeed (void)
double	getTimestamp (void)

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Member Function Documentation

float EncoderReader::getPosition (  void   )  [inline]

This method returns the current absolute position of the axis. The returned value is always in the range [-PI,PI]. Angle units are radians.

float EncoderReader::getRelPosition (  void   )  [inline]

This method returns the current relative position of the axis. This relative position is cumulative, so it is not restricted to lie within [-PI,PI]. Angle units are radians.

float EncoderReader::getSpeed (  void   )  [inline]

This method returns the current axis rotational speed. Returned value has unit rad/s.

double EncoderReader::getTimestamp (  void   )  [inline]

This method returns the timestamp for the latest encoder reading. Time units are seconds.

void EncoderReader::reset (  double  pos  )

This method resets the absolute position state to the supplied value. Angle units are radians.

void EncoderReader::resetRelPosition (  void   )  [inline]

This method resets the "relative" position state to 0. Relative position state can be used to track axis motion with respect to an arbitrary reference point determined by the last call to this method.

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RHexLib Reference Documentation