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//
// Copyright (C) 2013-2014 Michael Geszkiewicz
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
#ifndef __ENCODER_MODULE_H
#define __ENCODER_MODULE_H
#include "boards.h"
#include "hostmot2.h"
typedef struct {
u16 count;
u16 time_stamp;
u16 global_time_stamp;
int raw_counts;
double position;
double velocity;
double scale;
int quad_error;
board_t *board;
u16 base_address;
int instance;
int instance_stride;
} encoder_module_t;
int encoder_init(encoder_module_t *enc, board_t *board, int instance, int delay);
int encoder_cleanup(encoder_module_t *enc);
int encoder_read(encoder_module_t *enc);
#endif
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