br::ufrgs::ece::AIC::Encoder Class Reference
[AIC Hardware Interface]

List of all members.

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Detailed Description

Provides access to incremental encoder in an Actuator Interface Card.

Author:

Walter Fetter Lages (w.fetter@ieee.org)

Version:

AIC-1.3.0

Public Member Functions
	Encoder (int base, int pulses)
	Initializes Encoder, clears the counter on the quadrature decoder chip.
native void	finalize ()
	Finalizes Encoder.
double	read ()
	Reads the counter on the quadrature decoder chip and converts the motion to radians.
double	readAndClear ()
	Reads the counter on the quadrature decoder chip, converts the motion to radians and clears the counter.
Static Public Member Functions
native void	clear ()
	Clears the counter on the quadrature decoder chip.
native int	getCount ()
	Gets the count on the quadrature decoder chip.
native int	getCountAndClear ()
	Gets the count and clears the counter on the quadrature decoder chip.
Public Attributes
final int	PULSES
	Number of pulses per revolution of the encoder, considering the quadrature decoder.

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Constructor & Destructor Documentation

br::ufrgs::ece::AIC::Encoder::Encoder (  int  base, int  pulses )  [inline]

Initializes Encoder, clears the counter on the quadrature decoder chip. Parameters: base  Base address for on board devices pulses  Number of pulses per revolution of the encoder, considering the quadrature decoder

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Member Function Documentation

native int br::ufrgs::ece::AIC::Encoder::getCount (   )  [static]

Gets the count on the quadrature decoder chip. Returns: the number of pulses (in 2-complement) since the last time the counter was cleared

native int br::ufrgs::ece::AIC::Encoder::getCountAndClear (   )  [static]

Gets the count and clears the counter on the quadrature decoder chip. Returns: the number of pulses (in 2-complement) since the last time the counter was cleared

double br::ufrgs::ece::AIC::Encoder::read (   )  [inline]

Reads the counter on the quadrature decoder chip and converts the motion to radians. Returns: the displacement in radians since the last time the encoder was cleared

double br::ufrgs::ece::AIC::Encoder::readAndClear (   )  [inline]

Reads the counter on the quadrature decoder chip, converts the motion to radians and clears the counter. Returns: the displacement in radians since the last time the encoder was cleared

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

• Encoder.java

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