Driver / Incremental encoder

Driver for an incremental encoder. More...

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...

Detailed Description

Driver for an incremental encoder.

This driver uses a timer of the STM32, configured as a quadrature decoder.

Call enc_Init() first in the initialization code. Then, call enc_GetPosition() to get the decoded value. The output value is the paddle position in degrees, taking the reduction ratio into account.

Function Documentation

enc_GetPosition()

float32_t enc_GetPosition

(

void

)

Gets the current motor shaft angle, measured by the encoder counter.

Return values

The	current angle of the motor shaft [deg].

enc_Init()

void enc_Init

(

void

)

Initialize the incremental encoder driver.

This function initialize the timer 5 as a quadrature decoder, and set the current paddle position to zero.

enc_SetPosition()

void enc_SetPosition

(

float32_t

newPosition

)

Set the position offset.

The new position offset is computed such that the given position will now be returned by enc_GetPosition() if the paddle remains at this physical position.

Parameters

newPosition

the new paddle position.