New C18 3.0+ Compatible FRC Code

[billbo911]

Originally Posted by comphappy

I am trying to figure out the encoder code, and do not understand how the code knows what way the shaft is turning,
void Int_1_ISR(void)
{
if(ENCODER_1_PHASE_B_PIN == 0)
{
Encoder_1_Count -= ENCODER_1_TICK_DELTA;
}
else
{
Encoder_1_Count += ENCODER_1_TICK_DELTA;
}
}

What really is ENCODER_1_PHASE_B_PIN?
And what port is this interrupt running one Input 1 or 2?

When using a "Quadrature" encoder, there are two signals generated, Phase A and Phase B. Both are square waves with "B" 180 degrees out of phase from "A". When triggered by "A" going high, the ISR looks at "B", if it is low, you are going forward, if "B" is high you are going backward.
In the code it explains how to attach the A and B phases.

Now, if you are not using a quadrature encoder but one with a single output, like the GTS in the kit, then determining direction is a much bigger challenge although, not impossible.