Enumerations
enum	HAL_EncoderIndexingType : int32_t { HAL_kResetWhileHigh , HAL_kResetWhileLow , HAL_kResetOnFallingEdge , HAL_kResetOnRisingEdge }
	The type of index pulse for the encoder. More...

enum	HAL_EncoderEncodingType : int32_t { HAL_Encoder_k1X , HAL_Encoder_k2X , HAL_Encoder_k4X }
	The encoding scaling of the encoder. More...

Functions
HAL_EncoderHandle	HAL_InitializeEncoder (HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA, HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB, HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType, int32_t *status)
	Initializes an encoder. More...

void	HAL_FreeEncoder (HAL_EncoderHandle encoderHandle, int32_t *status)
	Frees an encoder. More...

void	HAL_SetEncoderSimDevice (HAL_EncoderHandle handle, HAL_SimDeviceHandle device)
	Indicates the encoder is used by a simulated device. More...

int32_t	HAL_GetEncoder (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the current counts of the encoder after encoding type scaling. More...

int32_t	HAL_GetEncoderRaw (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the raw counts of the encoder. More...

int32_t	HAL_GetEncoderEncodingScale (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the encoder scale value. More...

void	HAL_ResetEncoder (HAL_EncoderHandle encoderHandle, int32_t *status)
	Reads the current encoder value. More...

double	HAL_GetEncoderPeriod (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the Period of the most recent count. More...

void	HAL_SetEncoderMaxPeriod (HAL_EncoderHandle encoderHandle, double maxPeriod, int32_t *status)
	Sets the maximum period where the device is still considered "moving". More...

HAL_Bool	HAL_GetEncoderStopped (HAL_EncoderHandle encoderHandle, int32_t *status)
	Determines if the clock is stopped. More...

HAL_Bool	HAL_GetEncoderDirection (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the last direction the encoder value changed. More...

double	HAL_GetEncoderDistance (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the current distance traveled by the encoder. More...

double	HAL_GetEncoderRate (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the current rate of the encoder. More...

void	HAL_SetEncoderMinRate (HAL_EncoderHandle encoderHandle, double minRate, int32_t *status)
	Sets the minimum rate to be considered moving by the encoder. More...

void	HAL_SetEncoderDistancePerPulse (HAL_EncoderHandle encoderHandle, double distancePerPulse, int32_t *status)
	Sets the distance traveled per encoder pulse. More...

void	HAL_SetEncoderReverseDirection (HAL_EncoderHandle encoderHandle, HAL_Bool reverseDirection, int32_t *status)
	Sets if to reverse the direction of the encoder. More...

void	HAL_SetEncoderSamplesToAverage (HAL_EncoderHandle encoderHandle, int32_t samplesToAverage, int32_t *status)
	Sets the number of encoder samples to average when calculating encoder rate. More...

int32_t	HAL_GetEncoderSamplesToAverage (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the current samples to average value. More...

void	HAL_SetEncoderIndexSource (HAL_EncoderHandle encoderHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_EncoderIndexingType type, int32_t *status)
	Sets the source for an index pulse on the encoder. More...

int32_t	HAL_GetEncoderFPGAIndex (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the FPGA index of the encoder. More...

double	HAL_GetEncoderDecodingScaleFactor (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the decoding scale factor of the encoder. More...

double	HAL_GetEncoderDistancePerPulse (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the user set distance per pulse of the encoder. More...

HAL_EncoderEncodingType	HAL_GetEncoderEncodingType (HAL_EncoderHandle encoderHandle, int32_t *status)
	Gets the encoding type of the encoder. More...

Detailed Description

Enumeration Type Documentation

◆ HAL_EncoderEncodingType

enum HAL_EncoderEncodingType : int32_t

The encoding scaling of the encoder.

Enumerator
HAL_Encoder_k1X
HAL_Encoder_k2X
HAL_Encoder_k4X

◆ HAL_EncoderIndexingType

enum HAL_EncoderIndexingType : int32_t

The type of index pulse for the encoder.

Enumerator
HAL_kResetWhileHigh
HAL_kResetWhileLow
HAL_kResetOnFallingEdge
HAL_kResetOnRisingEdge

Function Documentation

◆ HAL_FreeEncoder()

void HAL_FreeEncoder	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Frees an encoder.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

◆ HAL_GetEncoder()

int32_t HAL_GetEncoder	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the current counts of the encoder after encoding type scaling.

This is scaled by the value passed during initialization to encodingType.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the current scaled count

◆ HAL_GetEncoderDecodingScaleFactor()

double HAL_GetEncoderDecodingScaleFactor	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the decoding scale factor of the encoder.

This is used to perform the scaling from raw to type scaled values.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the scale value for the encoder

◆ HAL_GetEncoderDirection()

HAL_Bool HAL_GetEncoderDirection	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the last direction the encoder value changed.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the last direction the encoder value changed

◆ HAL_GetEncoderDistance()

double HAL_GetEncoderDistance	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the current distance traveled by the encoder.

This is the encoder count scaled by the distance per pulse set for the encoder.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the encoder distance (units are determined by the units passed to HAL_SetEncoderDistancePerPulse)

◆ HAL_GetEncoderDistancePerPulse()

double HAL_GetEncoderDistancePerPulse	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the user set distance per pulse of the encoder.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the set distance per pulse

◆ HAL_GetEncoderEncodingScale()

int32_t HAL_GetEncoderEncodingScale	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the encoder scale value.

This is set by the value passed during initialization to encodingType.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the encoder scale value

◆ HAL_GetEncoderEncodingType()

HAL_EncoderEncodingType HAL_GetEncoderEncodingType	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the encoding type of the encoder.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the encoding type

◆ HAL_GetEncoderFPGAIndex()

int32_t HAL_GetEncoderFPGAIndex	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the FPGA index of the encoder.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the FPGA index of the encoder

◆ HAL_GetEncoderPeriod()

double HAL_GetEncoderPeriod	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the Period of the most recent count.

Returns the time interval of the most recent count. This can be used for velocity calculations to determine shaft speed.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the period of the last two pulses in units of seconds

◆ HAL_GetEncoderRate()

double HAL_GetEncoderRate	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the current rate of the encoder.

This is the encoder period scaled by the distance per pulse set for the encoder.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the encoder rate (units are determined by the units passed to HAL_SetEncoderDistancePerPulse, time value is seconds)

◆ HAL_GetEncoderRaw()

int32_t HAL_GetEncoderRaw	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the raw counts of the encoder.

This is not scaled by any values.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the raw encoder count

◆ HAL_GetEncoderSamplesToAverage()

int32_t HAL_GetEncoderSamplesToAverage	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Gets the current samples to average value.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: the current samples to average value

◆ HAL_GetEncoderStopped()

HAL_Bool HAL_GetEncoderStopped	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Determines if the clock is stopped.

Determines if the clocked input is stopped based on the MaxPeriod value set using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the device (and encoder) are assumed to be stopped and it returns true.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

Returns: true if the most recent encoder period exceeds the MaxPeriod value set by SetMaxPeriod

◆ HAL_InitializeEncoder()

HAL_EncoderHandle HAL_InitializeEncoder	(	HAL_Handle	digitalSourceHandleA,
		HAL_AnalogTriggerType	analogTriggerTypeA,
		HAL_Handle	digitalSourceHandleB,
		HAL_AnalogTriggerType	analogTriggerTypeB,
		HAL_Bool	reverseDirection,
		HAL_EncoderEncodingType	encodingType,
		int32_t *	status
	)

Initializes an encoder.

Parameters

[in]	digitalSourceHandleA	the A source (either a HAL_DigitalHandle or a HAL_AnalogTriggerHandle)
[in]	analogTriggerTypeA	the analog trigger type of the A source if it is an analog trigger
[in]	digitalSourceHandleB	the B source (either a HAL_DigitalHandle or a HAL_AnalogTriggerHandle)
[in]	analogTriggerTypeB	the analog trigger type of the B source if it is an analog trigger
[in]	reverseDirection	true to reverse the counting direction from standard, otherwise false
[in]	encodingType	the encoding type
[out]	status	Error status variable. 0 on success.

Returns: the created encoder handle

◆ HAL_ResetEncoder()

void HAL_ResetEncoder	(	HAL_EncoderHandle	encoderHandle,
		int32_t *	status
	)

Reads the current encoder value.

Read the value at this instant. It may still be running, so it reflects the current value. Next time it is read, it might have a different value.

Parameters

[in]	encoderHandle	the encoder handle
[out]	status	Error status variable. 0 on success.

◆ HAL_SetEncoderDistancePerPulse()

void HAL_SetEncoderDistancePerPulse	(	HAL_EncoderHandle	encoderHandle,
		double	distancePerPulse,
		int32_t *	status
	)

Sets the distance traveled per encoder pulse.

This is used as a scaling factor for the rate and distance calls.

Parameters

[in]	encoderHandle	the encoder handle
[in]	distancePerPulse	the distance traveled per encoder pulse (units user defined)
[out]	status	Error status variable. 0 on success.

◆ HAL_SetEncoderIndexSource()

void HAL_SetEncoderIndexSource	(	HAL_EncoderHandle	encoderHandle,
		HAL_Handle	digitalSourceHandle,
		HAL_AnalogTriggerType	analogTriggerType,
		HAL_EncoderIndexingType	type,
		int32_t *	status
	)

Sets the source for an index pulse on the encoder.

The index pulse can be used to cause an encoder to reset based on an external input.

Parameters

[in]	encoderHandle	the encoder handle
[in]	digitalSourceHandle	the index source handle (either a HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
[in]	analogTriggerType	the analog trigger type if the source is an analog trigger
[in]	type	the index triggering type
[out]	status	Error status variable. 0 on success.

◆ HAL_SetEncoderMaxPeriod()

void HAL_SetEncoderMaxPeriod	(	HAL_EncoderHandle	encoderHandle,
		double	maxPeriod,
		int32_t *	status
	)

Sets the maximum period where the device is still considered "moving".

Sets the maximum period where the device is considered moving. This value is used to determine the "stopped" state of the encoder using the HAL_GetEncoderStopped method.

Parameters

[in]	encoderHandle	the encoder handle
[in]	maxPeriod	the maximum period where the counted device is considered moving in seconds
[out]	status	Error status variable. 0 on success.

◆ HAL_SetEncoderMinRate()

void HAL_SetEncoderMinRate	(	HAL_EncoderHandle	encoderHandle,
		double	minRate,
		int32_t *	status
	)

Sets the minimum rate to be considered moving by the encoder.

Units need to match what is set by HAL_SetEncoderDistancePerPulse, with time as seconds.

Parameters

[in]	encoderHandle	the encoder handle
[in]	minRate	the minimum rate to be considered moving (units are determined by the units passed to HAL_SetEncoderDistancePerPulse, time value is seconds)
[out]	status	Error status variable. 0 on success.

◆ HAL_SetEncoderReverseDirection()

void HAL_SetEncoderReverseDirection	(	HAL_EncoderHandle	encoderHandle,
		HAL_Bool	reverseDirection,
		int32_t *	status
	)

Sets if to reverse the direction of the encoder.

Note that this is not a toggle. It is an absolute set.

Parameters

[in]	encoderHandle	the encoder handle
[in]	reverseDirection	true to reverse the direction, false to not.
[out]	status	Error status variable. 0 on success.

◆ HAL_SetEncoderSamplesToAverage()

void HAL_SetEncoderSamplesToAverage	(	HAL_EncoderHandle	encoderHandle,
		int32_t	samplesToAverage,
		int32_t *	status
	)

Sets the number of encoder samples to average when calculating encoder rate.

Parameters

[in]	encoderHandle	the encoder handle
[in]	samplesToAverage	the number of samples to average
[out]	status	Error status variable. 0 on success.

◆ HAL_SetEncoderSimDevice()

void HAL_SetEncoderSimDevice	(	HAL_EncoderHandle	handle,
		HAL_SimDeviceHandle	device
	)

Indicates the encoder is used by a simulated device.

Parameters

handle	the encoder handle
device	simulated device handle

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_EncoderEncodingType

◆ HAL_EncoderIndexingType

Function Documentation

◆ HAL_FreeEncoder()

◆ HAL_GetEncoder()

◆ HAL_GetEncoderDecodingScaleFactor()

◆ HAL_GetEncoderDirection()

◆ HAL_GetEncoderDistance()

◆ HAL_GetEncoderDistancePerPulse()

◆ HAL_GetEncoderEncodingScale()

◆ HAL_GetEncoderEncodingType()

◆ HAL_GetEncoderFPGAIndex()

◆ HAL_GetEncoderPeriod()

◆ HAL_GetEncoderRate()

◆ HAL_GetEncoderRaw()

◆ HAL_GetEncoderSamplesToAverage()

◆ HAL_GetEncoderStopped()

◆ HAL_InitializeEncoder()

◆ HAL_ResetEncoder()

◆ HAL_SetEncoderDistancePerPulse()

◆ HAL_SetEncoderIndexSource()

◆ HAL_SetEncoderMaxPeriod()

◆ HAL_SetEncoderMinRate()

◆ HAL_SetEncoderReverseDirection()

◆ HAL_SetEncoderSamplesToAverage()

◆ HAL_SetEncoderSimDevice()