HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

Macros | Functions
incr_encoder.h File Reference
`#include "../main.h"`

Go to the source code of this file.

## Macros
#define | CODER_A_Pin GPIO_Pin_0
#define | CODER_A_Port GPIOA
#define | CODER_A_PinSource GPIO_PinSource0
#define | CODER_B_Pin GPIO_Pin_1
#define | CODER_B_Port GPIOA
#define | CODER_B_PinSource GPIO_PinSource1
#define | CODER_I_Pin GPIO_Pin_3
#define | CODER_I_Port GPIOE
#define | CODER_RESOLUTION ((uint32_t)2000)

## Functions
void | enc_Init (void)
| Initialize the incremental encoder driver. More...
float32_t | enc_GetPosition (void)
| Gets the current motor shaft angle, measured by the encoder counter. More...
void | enc_SetPosition (float32_t newPosition)
| Set the position offset. More...

## Macro Definition Documentation

## ◆ CODER_A_Pin

#define CODER_A_Pin GPIO_Pin_0

## ◆ CODER_A_PinSource

#define CODER_A_PinSource GPIO_PinSource0

## ◆ CODER_A_Port

#define CODER_A_Port GPIOA

## ◆ CODER_B_Pin

#define CODER_B_Pin GPIO_Pin_1

## ◆ CODER_B_PinSource

#define CODER_B_PinSource GPIO_PinSource1

## ◆ CODER_B_Port

#define CODER_B_Port GPIOA

## ◆ CODER_I_Pin

#define CODER_I_Pin GPIO_Pin_3

## ◆ CODER_I_Port

#define CODER_I_Port GPIOE

## ◆ CODER_RESOLUTION

#define CODER_RESOLUTION ((uint32_t)2000)