Definition:

#include <aMotion.h>
object code: aMotion.c



aErr aMotion_GetEnc32(

aStemLib stemRef, const unsigned char module, const unsigned char channel, char* pbuff);

Parameters:

stemRef	-	An opaque library reference representing the aStem library which manages the communication with the BrainStem modules.
module	-	The IIC address of the Moto module that will return the 32-bit encoder setting for one of its motion control channels.  This need not be the router.
channel	-	The index of the motion control channel.
pbuff	-	Address of a 4-byte buffer where the network byte ordered value will be stored.

Return Value:

This routine returns aErrNone when there are no errors.

Description:

This routine manages the BrainStem packets needed to request the 4-byte encoder count associated with a motion control channel and receive the reply.

See the cmdMO_ENC32 documentation for a discussion of how the 32-bit encoder works for various motion control modes.

Example:

/* include used for byte ordering, requires aUtil.c object */ #include "aUtil.h" /* the storage for our value, initialized to zero */ int encoderValue = 0; {   aErr e;   char buff[4]; /* storage to hold the value from the packet */   /* get the module 4, channel 0 encoder data */   e = aMotion_GetEnc32(stemLibRef, 4, 0, buff);   if (e == aErrNone) {     /* this call ensures that the byte-order on your platform is      * resolved so the number makes sense to your machine that      * comes from the BrainStem in network byte order. */     encoderValue = aUtil_RetrieveInt((const char*)buff);   } } /* now, encoderValue is filled, provided there was no error */

Related:

aStem_GetLibRef, aStem_ReleaseLibRef