Revision 1:2e39be3d2088, committed 2015-03-07

Comitter:

perr1940

Date:

Sat Mar 07 01:56:09 2015 +0000

Parent:

0:1d2644a20b71

Commit message:

Publishing for Michael McKinley to calibrate.

Changed in this revision

diff -r 1d2644a20b71 -r 2e39be3d2088 Encoder.cpp
--- a/Encoder.cpp	Mon Nov 24 03:33:29 2014 +0000
+++ b/Encoder.cpp	Sat Mar 07 01:56:09 2015 +0000
@@ -59,6 +59,19 @@
 
     // XNOR parity check
     parity=~(parity_calc(raw) ^ (raw>>15));
+    if(!parity) {
+        // Select the device by seting chip select low
+        _cs = 0;
+
+        //send a dummy byte to the MOSI to get a reading through the MISO
+        raw=_spi.write(0xFFFF);
+
+        // Set the select back to low to allow the encoder to chill
+        _cs=1;
+
+        // XNOR parity check
+        parity=~(parity_calc(raw) ^ (raw>>15));
+    }
 
     // Mask and bit shift to look at encoder flag value
     enc_flag=(raw & 0x4000)>>14;
@@ -68,9 +81,10 @@
     return raw;
 }
 
-short int Encoder::readRaw(){
+short int Encoder::readRaw()
+{
     return raw;
-    }
+}
 /***********************************************************
 Translate Function - Translates Ticks to Position
 ***********************************************************/
@@ -107,4 +121,4 @@
 void Encoder::flip()
 {
     sign=-sign;
-    }
\ No newline at end of file
+}
\ No newline at end of file

diff -r 1d2644a20b71 -r 2e39be3d2088 Encoder.h
--- a/Encoder.h	Mon Nov 24 03:33:29 2014 +0000
+++ b/Encoder.h	Sat Mar 07 01:56:09 2015 +0000
@@ -18,19 +18,48 @@
     short int readRaw();
     // Functions
 private:
+    /**
+    * SPI bus for communicating with the encoder.
+    **/
     SPI _spi;
+    /**
+    * SPI chip select pin for communicating with the encoder.
+    **/
     DigitalOut _cs;
+    /**
+    *Calculates the parity of the input.
+    *@params x The message that you want to calculate the parity of.
+    *@returns A boolean variable that represents the parity of the message.
+    **/
     bool parity_calc(int x);
+    /**
+    *Sign variable used to flip the direction of the encoder if needed.  
+    **/
     int sign;
+    /**
+    *Reads the encoder, does parity check, and stores the error flag.
+    *@returns An unsigned integer which is the number of ticks away from the zero position.
+    **/
     int read();
+    /**
+    *The parity comparison of the previous transmission
+    **/
     bool parity;
+    /**
+    *The encoder flag of the previous transmission
+    **/
     bool enc_flag;
-    //zero_ang for standing position
+    /**
+    *Zero angle set point for standing position.
+    **/
     float zero_ang;
+    /**
+    *The raw angle from the encoder in encoder ticks.
+    **/
     short int raw;
-
-
-    // Variables
+    /**
+    *Used for translating from encoder ticks to degrees.
+    **/
     const float enc2deg;
 
 };