2 * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: encoders_microb.h,v 1.4.4.1 2006-11-26 21:06:04 zer0 Exp $
22 #ifndef _ENCODERS_MICROB_H_
23 #define _ENCODERS_MICROB_H_
26 * Initialisation of encoders, variables
28 void encoders_microb_init(void);
31 * Update encoders values, need to be done quite often
32 * (Fmax_encoders/64). First, encoders 0 2 4 6 are read, and at next call
35 * \param dummy : a (void *) pointer that is not used. It is here according
36 * to the encoders interface.
38 void encoders_microb_manage(void * dummy);
40 /** Extract encoder value.
42 * \param data : a (void *) that is casted in (uint8_t) containing the number
43 * of the encoder to be read.
45 int32_t encoders_microb_get_value(void * data);
47 /** Set an encoder value
49 * \param data : a (void *) that is casted in (uint8_t) containing the number
50 * of the encoder to be read.
51 * \param v : the value
53 void encoders_microb_set_value(void * data, int32_t c);