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joshua-8 committed Jun 2, 2024
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10 changes: 5 additions & 5 deletions byte-sized-encoder-decoder_8h_source.html
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="class_byte_sized_encoder_decoder.html#a2cf74d103699e1094df891c8a64e65d5"> 41</a></span> int16_t <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a2cf74d103699e1094df891c8a64e65d5">encoderVelocity</a>[8];</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_byte_sized_encoder_decoder.html#aa4ea68b1e2bb89a1a55b8f21816287ef"> 45</a></span> int16_t <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#aa4ea68b1e2bb89a1a55b8f21816287ef">encoderSlowestInterval</a>[8];</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="class_byte_sized_encoder_decoder.html#a65195beb5442f3950b334743f08e7cce"> 49</a></span> int16_t <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a65195beb5442f3950b334743f08e7cce">encoderEnoughCounts</a>[8];</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea"> 53</a></span> <span class="keywordtype">boolean</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea">isVelNew</a>[8];</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b"> 53</a></span> <span class="keywordtype">boolean</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b">isVelNewVal</a>[8];</div>
<div class="foldopen" id="foldopen00057" data-start="{" data-end="}">
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="class_byte_sized_encoder_decoder.html#ada95cb18bd4b4728f16f394977c46018"> 57</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_byte_sized_encoder_decoder.html#ada95cb18bd4b4728f16f394977c46018">write</a>(uint8_t data)</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> {</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordflow">if</span> (n &gt; 8 || n &lt; 1) {</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> }</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">boolean</span> temp = <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea">isVelNew</a>[n - 1];</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea">isVelNew</a>[n - 1] = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">boolean</span> temp = <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b">isVelNewVal</a>[n - 1];</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b">isVelNewVal</a>[n - 1] = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordflow">return</span> temp;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> }</div>
</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordflow">if</span> (hundredMicrosSinceLastRead &gt; (int32_t)(<a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#aa4ea68b1e2bb89a1a55b8f21816287ef">encoderSlowestInterval</a>[i] * 10) || abs(<a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a953eb0c40592ac84136ca855d93ceea2">encoderCount</a>[i] - <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#ae3d2c555633d22b41be5bc5d787b35d4">lastEncoderCount</a>[i]) &gt; <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a65195beb5442f3950b334743f08e7cce">encoderEnoughCounts</a>[i]) {</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#ae1d108b0c18ae5e00387b0a1b736af28">lastReadMicros</a>[i] = mic;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a2cf74d103699e1094df891c8a64e65d5">encoderVelocity</a>[i] = (int32_t)10000 * (<a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a953eb0c40592ac84136ca855d93ceea2">encoderCount</a>[i] - <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#ae3d2c555633d22b41be5bc5d787b35d4">lastEncoderCount</a>[i]) / hundredMicrosSinceLastRead;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea">isVelNew</a>[i] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <a class="code hl_variable" href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b">isVelNewVal</a>[i] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> }</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> }</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> }</div>
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<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_a66211cb3263c7a7a4856f19d5976d927"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#a66211cb3263c7a7a4856f19d5976d927">ByteSizedEncoderDecoder::run</a></div><div class="ttdeci">void run()</div><div class="ttdoc">reads the encoder positions from the board</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:155</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_a67c9ba4274ce78ba3ebbdddd3dcd5997"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#a67c9ba4274ce78ba3ebbdddd3dcd5997">ByteSizedEncoderDecoder::whichEncodersMask</a></div><div class="ttdeci">uint8_t whichEncodersMask</div><div class="ttdoc">bit mask of which encoders to read from</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:33</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_a67f158ba45e9058deb13c0dd74f65d77"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#a67f158ba45e9058deb13c0dd74f65d77">ByteSizedEncoderDecoder::address</a></div><div class="ttdeci">uint8_t address</div><div class="ttdoc">I2C address of the Byte Sized Encoder Decoder board (as selected by the jumpers)</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:13</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_a77a5fa293416f7743c151cb1a3ee4e4b"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b">ByteSizedEncoderDecoder::isVelNewVal</a></div><div class="ttdeci">boolean isVelNewVal[8]</div><div class="ttdoc">array of 8 booleans representing whether the velocity was just calculated</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:53</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_a795dad2859cfe20084216aa7436c33af"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#a795dad2859cfe20084216aa7436c33af">ByteSizedEncoderDecoder::setEncoderEnoughCounts</a></div><div class="ttdeci">void setEncoderEnoughCounts(uint8_t n, int16_t counts)</div><div class="ttdoc">set the value of encoderEnoughCounts</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:108</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_a856a1b051c5644d5ff2249cdecd0feb5"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#a856a1b051c5644d5ff2249cdecd0feb5">ByteSizedEncoderDecoder::getEncoderVelocity</a></div><div class="ttdeci">int16_t getEncoderVelocity(uint8_t n, boolean read=false)</div><div class="ttdoc">gets the velocity of an encoder</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:231</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_a953eb0c40592ac84136ca855d93ceea2"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#a953eb0c40592ac84136ca855d93ceea2">ByteSizedEncoderDecoder::encoderCount</a></div><div class="ttdeci">int16_t encoderCount[8]</div><div class="ttdoc">array of 8 numbers representing the number of steps each encoder has taken</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:17</div></div>
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<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_aa4ea68b1e2bb89a1a55b8f21816287ef"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#aa4ea68b1e2bb89a1a55b8f21816287ef">ByteSizedEncoderDecoder::encoderSlowestInterval</a></div><div class="ttdeci">int16_t encoderSlowestInterval[8]</div><div class="ttdoc">after this many milliseconds without an encoder tick velocity is set to zero.</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:45</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_aaaedba3e69d158d0a1cfa0c32dbca7d1"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#aaaedba3e69d158d0a1cfa0c32dbca7d1">ByteSizedEncoderDecoder::encoderOverflows</a></div><div class="ttdeci">int16_t encoderOverflows[8]</div><div class="ttdoc">array of 8 numbers representing the number of times each encoder's counter variable has overflowed</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:21</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_aab6833c82200891fc1f5d52e1c5bbca8"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#aab6833c82200891fc1f5d52e1c5bbca8">ByteSizedEncoderDecoder::setWhichEncoders</a></div><div class="ttdeci">void setWhichEncoders(uint8_t mask)</div><div class="ttdoc">set which encoders you want to receive data from</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:260</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_ac1c21614314bb48860f3e539ef0f02ea"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea">ByteSizedEncoderDecoder::isVelNew</a></div><div class="ttdeci">boolean isVelNew[8]</div><div class="ttdoc">array of 8 booleans representing whether the velocity was just calculated</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:53</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_ad7801e217c3adac17bbccf3b6c474158"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#ad7801e217c3adac17bbccf3b6c474158">ByteSizedEncoderDecoder::isVelNew</a></div><div class="ttdeci">boolean isVelNew(uint8_t n)</div><div class="ttdoc">whether the velocity was just calculated</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:128</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_ada95cb18bd4b4728f16f394977c46018"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#ada95cb18bd4b4728f16f394977c46018">ByteSizedEncoderDecoder::write</a></div><div class="ttdeci">void write(uint8_t data)</div><div class="ttdoc">helper function to write a byte to the board</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:57</div></div>
<div class="ttc" id="aclass_byte_sized_encoder_decoder_html_adcc356b5e6c7d0d64cd9252ab8764c42"><div class="ttname"><a href="class_byte_sized_encoder_decoder.html#adcc356b5e6c7d0d64cd9252ab8764c42">ByteSizedEncoderDecoder::setEncoderSlowestInterval</a></div><div class="ttdeci">void setEncoderSlowestInterval(uint8_t n, int16_t interval)</div><div class="ttdoc">set the value of encoderSlowestInterval</div><div class="ttdef"><b>Definition</b> byte-sized-encoder-decoder.h:90</div></div>
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4 changes: 2 additions & 2 deletions class_byte_sized_encoder_decoder-members.html
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<tr class="odd"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#a639c73fefb4c3ef8649a7707aa81edd8">getEncoderPositionWithoutOverflows</a>(uint8_t n, boolean read=false)</td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#a856a1b051c5644d5ff2249cdecd0feb5">getEncoderVelocity</a>(uint8_t n, boolean read=false)</td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#a63045fd8fa427538e7266c57fb8cd052">isEncoderActive</a>(uint8_t n)</td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea">isVelNew</a></td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#ad7801e217c3adac17bbccf3b6c474158">isVelNew</a>(uint8_t n)</td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#ad7801e217c3adac17bbccf3b6c474158">isVelNew</a>(uint8_t n)</td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b">isVelNewVal</a></td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#ae3d2c555633d22b41be5bc5d787b35d4">lastEncoderCount</a></td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#ae1d108b0c18ae5e00387b0a1b736af28">lastReadMicros</a></td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html#a286a9e23a046d770d8bd45177df1a65c">resetEncoderPositions</a>(boolean resetVariables=true)</td><td class="entry"><a class="el" href="class_byte_sized_encoder_decoder.html">ByteSizedEncoderDecoder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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12 changes: 6 additions & 6 deletions class_byte_sized_encoder_decoder.html
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<tr class="memitem:a65195beb5442f3950b334743f08e7cce" id="r_a65195beb5442f3950b334743f08e7cce"><td class="memItemLeft" align="right" valign="top">int16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_byte_sized_encoder_decoder.html#a65195beb5442f3950b334743f08e7cce">encoderEnoughCounts</a> [8]</td></tr>
<tr class="memdesc:a65195beb5442f3950b334743f08e7cce"><td class="mdescLeft">&#160;</td><td class="mdescRight">enough counts to calculate velocity from <br /></td></tr>
<tr class="separator:a65195beb5442f3950b334743f08e7cce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1c21614314bb48860f3e539ef0f02ea" id="r_ac1c21614314bb48860f3e539ef0f02ea"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_byte_sized_encoder_decoder.html#ac1c21614314bb48860f3e539ef0f02ea">isVelNew</a> [8]</td></tr>
<tr class="memdesc:ac1c21614314bb48860f3e539ef0f02ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">array of 8 booleans representing whether the velocity was just calculated <br /></td></tr>
<tr class="separator:ac1c21614314bb48860f3e539ef0f02ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77a5fa293416f7743c151cb1a3ee4e4b" id="r_a77a5fa293416f7743c151cb1a3ee4e4b"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_byte_sized_encoder_decoder.html#a77a5fa293416f7743c151cb1a3ee4e4b">isVelNewVal</a> [8]</td></tr>
<tr class="memdesc:a77a5fa293416f7743c151cb1a3ee4e4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">array of 8 booleans representing whether the velocity was just calculated <br /></td></tr>
<tr class="separator:a77a5fa293416f7743c151cb1a3ee4e4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>class for communicating with the firmware on a Byte Sized Encoder Decoder board </p>
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</div>
</div>
<a id="ac1c21614314bb48860f3e539ef0f02ea" name="ac1c21614314bb48860f3e539ef0f02ea"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac1c21614314bb48860f3e539ef0f02ea">&#9670;&#160;</a></span>isVelNew</h2>
<a id="a77a5fa293416f7743c151cb1a3ee4e4b" name="a77a5fa293416f7743c151cb1a3ee4e4b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a77a5fa293416f7743c151cb1a3ee4e4b">&#9670;&#160;</a></span>isVelNewVal</h2>

<div class="memitem">
<div class="memproto">
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<td class="mlabels-left">
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<td class="memname">boolean ByteSizedEncoderDecoder::isVelNew[8]</td>
<td class="memname">boolean ByteSizedEncoderDecoder::isVelNewVal[8]</td>
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</table>
</td>
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