ComediEncoder Class Reference

#include <ComediEncoder.hpp>

List of all members.

---

Detailed Description

A class for reading an encoder using the comedi hardware abstraction layer.

Based on the comedi API of the home written driver for the NI660X card.

Todo:

Currently this wrapper does not support all functionality. It always uses X4 encoding (maximum resolution), you cannot choose when to take into account the indexpulse or reset the counter when the index pulse arrives. Also see the comments of the encodertest.c program See <http://people.mech.kuleuven.ac.be/~kgadeyne/linux/> for more information about all this stuff

Todo:

subdevice locking

Todo:

Throw exception when constructor fails instead of just printing an error

Bug:

upcounting is always true

Note:

The current implementation does not consider the _turn parameter, since an overflow of the 32 bit register is unlikely to occur in our case.

Public Member Functions
	ComediEncoder (ComediDevice *cd, unsigned int subd, unsigned int encNr, const std::string &name)
	Create a nameserved encoder.
	ComediEncoder (ComediDevice *cd, unsigned int subd, unsigned int encNr)
	Create an encoder.
virtual int	positionGet () const
virtual int	turnGet () const
virtual void	positionSet (int p)
virtual void	turnSet (int t)
virtual int	resolution () const
virtual bool	upcounting () const
Protected Member Functions
void	init ()
Protected Attributes
ComediDevice *	_myCard
unsigned int	_subDevice
unsigned int	_channel
int	_turn
int	_resolution
bool	_upcounting

---

Constructor & Destructor Documentation

ComediEncoder	(	ComediDevice *	cd,
		unsigned int	subd,
		unsigned int	encNr,
		const std::string &	name
	)

Create a nameserved encoder.

Parameters:

	cd	The comedi device your are using
	subd	The comedi subdevice where the COUNTER is situated.
	encNr	The number of the encoder on the comedi subdevice (aka channel)
	name	The name of the encoder.

ComediEncoder	(	ComediDevice *	cd,
		unsigned int	subd,
		unsigned int	encNr
	)

Create an encoder.

Parameters:

	cd	The comedi device your are using
	subd	The comedi subdevice where the COUNTER is situated.
	encNr	The number of the encoder on the comedi subdevice (aka channel)

---

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

• /home/sspr/src/www/orocos-1.0/export/build/orocos-ocl-1.4.0/hardware/comedi/dev/ComediEncoder.hpp
• /home/sspr/src/www/orocos-1.0/export/build/orocos-ocl-1.4.0/hardware/comedi/dev/ComediEncoder.cpp

---