File content as of revision 0:c21936a3520a:

#ifndef _ENCODER_H_
#define _ENCODER_H_

int encoder_data[6]={0,};

int ex_encoder_data[6]={0,};
int dif_encoder_data[6]={0,};
double filter_dif_encoder_data[6]={0,};
double filter_dif_encoder_co[6]     = {0.01,0.01,0.01,0.01,0.01,0.01};

void filter_encoder_data()
{
        for(int i=0; i<6;i++)
        {
        dif_encoder_data[i]= encoder_data[i] - ex_encoder_data[i];
        
        filter_dif_encoder_data[i] = filter_dif_encoder_data[i]*(1-filter_dif_encoder_co[i]) + (double)dif_encoder_data[i]*filter_dif_encoder_co[i];
        
        ex_encoder_data[i] = encoder_data[i];
        }
}

void encoder_read()
{
        encoder_data[0] = encoder1.read();
        encoder_data[1] = encoder2.read();
        encoder_data[2] = encoder3.read();
        encoder_data[3] = encoder4.read();
        encoder_data[4] = encoder5.read();
        encoder_data[5] = encoder6.read();
        
        filter_encoder_data();
}

#endif