ByteSizedEncoderDecoder Class Reference

class for communicating with the firmware on a Byte Sized Encoder Decoder board More...

#include <byte-sized-encoder-decoder.h>

Public Member Functions
	ByteSizedEncoderDecoder (TwoWire *_wire, uint8_t _address=14, int16_t _encoderSlowestInterval=0, int16_t _encoderEnoughCounts=0)
	Constructor for the Byte Sized Encoder Decoder class.
void	setEncoderSlowestInterval (uint8_t n, int16_t interval)
	set the value of encoderSlowestInterval
void	setEncoderEnoughCounts (uint8_t n, int16_t counts)
	set the value of encoderEnoughCounts
boolean	isVelNew (uint8_t n)
	whether the velocity was just calculated
void	begin (boolean resetEncoders=true)
	sets up the Byte Sized Encoder Decoder board all it really does is tell the board to read from all encoders
void	run ()
	reads the encoder positions from the board
int32_t	getEncoderPosition (uint8_t n, boolean read=false)
	gets the position of an encoder as a 32 bit signed integer (it counts how many times the 16 bit number has overflowed)
int16_t	getEncoderPositionWithoutOverflows (uint8_t n, boolean read=false)
	gets the position of an encoder as the 16 bit number that the board returns (it loops around and overflows at 32767 and underflows at -32768)
int16_t	getEncoderVelocity (uint8_t n, boolean read=false)
	gets the velocity of an encoder
void	resetEncoderPositions (boolean resetVariables=true)
	resets all encoder positions to 0
void	setWhichEncoders (uint8_t mask)
	set which encoders you want to receive data from
boolean	isEncoderActive (uint8_t n)
	whether you have set to read data from a specific encoder

Protected Member Functions
void	write (uint8_t data)
	helper function to write a byte to the board

Protected Attributes
uint8_t	address
	I2C address of the Byte Sized Encoder Decoder board (as selected by the jumpers)
int16_t	encoderCount [8]
	array of 8 numbers representing the number of steps each encoder has taken
int16_t	encoderOverflows [8]
	array of 8 numbers representing the number of times each encoder's counter variable has overflowed
int16_t	lastEncoderCount [8]
	array of 8 numbers representing the last encoder count read from the board
int16_t	lastVelocityEncoderCount [8]
	array of 8 numbers representing the last encoder count read from the board for velocity calculation
TwoWire *	wire
	I2C bus to communicate over.
uint8_t	whichEncodersMask
	bit mask of which encoders to read from
unsigned long	lastReadMicros [8]
	the last time the encoders were read (microseconds)
int16_t	encoderVelocity [8]
	array of 8 numbers representing the velocity of each encoder (steps per second)
int16_t	encoderSlowestInterval [8]
	after this many milliseconds without an encoder tick velocity is set to zero.
int16_t	encoderEnoughCounts [8]
	enough counts to calculate velocity from
boolean	isVelNewVal [8]
	array of 8 booleans representing whether the velocity was just calculated

Detailed Description

class for communicating with the firmware on a Byte Sized Encoder Decoder board

Constructor & Destructor Documentation

ByteSizedEncoderDecoder()

ByteSizedEncoderDecoder::ByteSizedEncoderDecoder ( TwoWire *  _wire, uint8_t  _address = 14, int16_t  _encoderSlowestInterval = 0, int16_t  _encoderEnoughCounts = 0  )

inline

Constructor for the Byte Sized Encoder Decoder class.

Parameters

_wire	I2C bus to communicate over. &Wire or &Wire1
_address	I2C address of the Byte Sized Encoder Decoder board (as selected by the jumpers), default is 14, (14-17 are options)
_encoderSlowestInterval	after this many milliseconds without a calculation, velocity is recalculated
_encoderEnoughCounts	enough counts to calculate velocity

Member Function Documentation

begin()

void ByteSizedEncoderDecoder::begin ( boolean  resetEncoders = true )

inline

sets up the Byte Sized Encoder Decoder board all it really does is tell the board to read from all encoders

Parameters

resetEncoders

whether to reset the encoder positions to 0, default is true

Note

call this after Wire.begin() has been called

getEncoderPosition()

int32_t ByteSizedEncoderDecoder::getEncoderPosition ( uint8_t  n, boolean  read = false  )

inline

gets the position of an encoder as a 32 bit signed integer (it counts how many times the 16 bit number has overflowed)

Parameters

n	encoder number (1-8), other values will return 0
read	whether to read the encoder positions from the board before returning the value, default is false

Return values

int32_t

the number of steps the encoder has taken

getEncoderPositionWithoutOverflows()

int16_t ByteSizedEncoderDecoder::getEncoderPositionWithoutOverflows ( uint8_t  n, boolean  read = false  )

inline

gets the position of an encoder as the 16 bit number that the board returns (it loops around and overflows at 32767 and underflows at -32768)

Note

use getEncoderPosition if you want a 32 bit number that includes how many times the number from the board has overflowed

Parameters

n	encoder number (1-8), other values will return 0
read	whether to read the encoder positions from the board before returning the value, default is false

Return values

int16_t

the number of steps the encoder has taken (though it loops around and overflows at 32767 and underflows at -32768)

getEncoderVelocity()

int16_t ByteSizedEncoderDecoder::getEncoderVelocity ( uint8_t  n, boolean  read = false  )

inline

gets the velocity of an encoder

Parameters

n	encoder number (1-8), other values will return 0
read	whether to read the encoder positions from the board before returning the value, default is false

Return values

int16_t

the velocity of the encoder (steps per second)

isEncoderActive()

boolean ByteSizedEncoderDecoder::isEncoderActive ( uint8_t  n )

inline

whether you have set to read data from a specific encoder

Parameters

n	encoder number (1-8)

Return values

boolean

whether you have set to read data from a specific encoder

isVelNew()

boolean ByteSizedEncoderDecoder::isVelNew ( uint8_t  n )

inline

whether the velocity was just calculated

Note

this function resets the value to false, so call it just once

Parameters

n	encoder number (1-8)

Return values

boolean

whether the velocity was just calculated

resetEncoderPositions()

void ByteSizedEncoderDecoder::resetEncoderPositions ( boolean  resetVariables = true )

inline

resets all encoder positions to 0

Parameters

resetVariables

whether to reset the encoderCount and encoderOverflows variables, default is true

run()

void ByteSizedEncoderDecoder::run ( )

inline

reads the encoder positions from the board

Note

call this in your loop to update the encoder positions

setEncoderEnoughCounts()

void ByteSizedEncoderDecoder::setEncoderEnoughCounts ( uint8_t  n, int16_t  counts  )

inline

set the value of encoderEnoughCounts

Parameters

n	encoder number (1-8), or 0 to set all at once
counts	enough counts to calculate velocity

setEncoderSlowestInterval()

void ByteSizedEncoderDecoder::setEncoderSlowestInterval ( uint8_t  n, int16_t  interval  )

inline

set the value of encoderSlowestInterval

Parameters

n	encoder number (1-8), or 0 to set all at once
interval	after this many milliseconds without a calculation, velocity is recalculated

setWhichEncoders()

void ByteSizedEncoderDecoder::setWhichEncoders ( uint8_t  mask )

inline

set which encoders you want to receive data from

Parameters

mask	8 bit mask of which encoders to read from 0b00000101 would read from encoders 6 and 8 (aligns with the labels on the board)

write()

void ByteSizedEncoderDecoder::write ( uint8_t  data )

inlineprotected

helper function to write a byte to the board

Member Data Documentation

address

uint8_t ByteSizedEncoderDecoder::address

protected

I2C address of the Byte Sized Encoder Decoder board (as selected by the jumpers)

encoderCount

int16_t ByteSizedEncoderDecoder::encoderCount[8]

protected

array of 8 numbers representing the number of steps each encoder has taken

encoderEnoughCounts

int16_t ByteSizedEncoderDecoder::encoderEnoughCounts[8]

protected

enough counts to calculate velocity from

encoderOverflows

int16_t ByteSizedEncoderDecoder::encoderOverflows[8]

protected

array of 8 numbers representing the number of times each encoder's counter variable has overflowed

encoderSlowestInterval

int16_t ByteSizedEncoderDecoder::encoderSlowestInterval[8]

protected

after this many milliseconds without an encoder tick velocity is set to zero.

encoderVelocity

int16_t ByteSizedEncoderDecoder::encoderVelocity[8]

protected

array of 8 numbers representing the velocity of each encoder (steps per second)

isVelNewVal

boolean ByteSizedEncoderDecoder::isVelNewVal[8]

protected

array of 8 booleans representing whether the velocity was just calculated

lastEncoderCount

int16_t ByteSizedEncoderDecoder::lastEncoderCount[8]

protected

array of 8 numbers representing the last encoder count read from the board

lastReadMicros

unsigned long ByteSizedEncoderDecoder::lastReadMicros[8]

protected

the last time the encoders were read (microseconds)

lastVelocityEncoderCount

int16_t ByteSizedEncoderDecoder::lastVelocityEncoderCount[8]

protected

array of 8 numbers representing the last encoder count read from the board for velocity calculation

whichEncodersMask

uint8_t ByteSizedEncoderDecoder::whichEncodersMask

protected

bit mask of which encoders to read from

wire

TwoWire* ByteSizedEncoderDecoder::wire

protected

I2C bus to communicate over.

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The documentation for this class was generated from the following file:

• src/byte-sized-encoder-decoder.h