#ifndef encoder_corrector_h #define encoder_corrector_h /* encoder_corrector.h */ /* motor - Motor control module. {{{ * * Copyright (C) 2011 Nicolas Schodet * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "encoder.h" /** Encoder corrector state. */ struct encoder_corrector_t { /** Current uncorrected value. */ int32_t cur_raw; /** Correction factor (f8.24). */ uint32_t correction; }; typedef struct encoder_corrector_t encoder_corrector_t; /** Set correction factor (f8.24). */ extern inline void encoder_corrector_set_correction (encoder_corrector_t *corrector, uint32_t correction) { corrector->correction = correction; } /** Initialise corrector. */ void encoder_corrector_init (encoder_corrector_t *corrector); /** Update correction on a single encoder. Encoder state will be changed. */ void encoder_corrector_update (encoder_corrector_t *corrector, encoder_t *encoder); #endif /* encoder_corrector_h */