int CCONV AttachHandler(CPhidgetHandle ENC, void *userptr)
{
int serialNo;
CPhidget_DeviceID deviceID;
int i, inputcount;
CPhidget_getSerialNumber(ENC, &serialNo);
//Retrieve the device ID and number of encoders so that we can set the enables if needed
CPhidget_getDeviceID(ENC, &deviceID);
CPhidgetEncoder_getEncoderCount((CPhidgetEncoderHandle)ENC, &inputcount);
printf("Encoder %10d attached! \n", serialNo);
//the 1047 requires enabling of the encoder inputs, so enable them if this is a 1047
if (deviceID == PHIDID_ENCODER_HS_4ENCODER_4INPUT)
{
printf("Encoder requires Enable. Enabling inputs....\n");
for (i = 0 ; i < inputcount ; i++)
CPhidgetEncoder_setEnabled((CPhidgetEncoderHandle)ENC, i, 1);
}
return 0;
}
void encoderAttach(const int which)
/**
* @brief function that handles registering the an encoder has been attached
* @param which indicates which encoder was seen (1 or 2)
**/
{
if (which == 1)
{
m_encoder1Seen = true;
// this could either be the left encoder board, or it's a single board that
// supports both encoders. Check how many inputs it has
int count;
CPhidgetEncoder_getEncoderCount(m_leftEncoder, &count);
if (count > 1)
{
// we have only one board that supports both motor encoders
m_leftEncoderNumber = 0;
m_rightEncoderNumber = 1;
if(motors_inverted || encoders_inverted){
m_leftEncoderNumber = 1;
m_rightEncoderNumber = 0;
}
m_rightEncoder = m_leftEncoder;
m_encoder2Seen = true;
m_encodersGood = true;
}
else
{
m_leftEncoderNumber = 0;
m_rightEncoderNumber = 0;
// open the second encoder (assume it's the right one)
CPhidgetEncoder_create(&m_rightEncoder);
CPhidget_set_OnAttach_Handler((CPhidgetHandle) m_rightEncoder,
RightEncoderAttach, NULL);
CPhidget_open((CPhidgetHandle) m_rightEncoder, -1);
}
}
else
{
m_encoder2Seen = true;
}
// have we seen both of the encoders?
if (m_encoder1Seen && m_encoder2Seen)
{
// now check the assumption we have the encoders correct
int leftSerial;
int rightSerial;
CPhidget_getSerialNumber((CPhidgetHandle) m_leftEncoder, &leftSerial);
CPhidget_getSerialNumber((CPhidgetHandle) m_rightEncoder, &rightSerial);
if (leftSerial > rightSerial)
{
// oops, we go them backwards so swap them
CPhidgetEncoderHandle tempEncoder = m_leftEncoder;
m_leftEncoder = m_rightEncoder;
m_rightEncoder = tempEncoder;
int tempNumber = m_leftEncoderNumber;
m_leftEncoderNumber = m_rightEncoderNumber;
m_rightEncoderNumber = tempNumber;
}
CPhidgetEncoder_setEnabled(m_leftEncoder, m_leftEncoderNumber, PTRUE);
CPhidgetEncoder_setEnabled(m_rightEncoder, m_rightEncoderNumber, PTRUE);
m_encodersGood = true;
}
}
