incr_encoder.h
6e40e5d06fb2hri-gen3

incr_encoder.h
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			#ifndef __INCR_ENCODERS_H
			#define __INCR_ENCODERS_H

			#include "../main.h"

			#define CODER_A_Pin GPIO_Pin_0
			#define CODER_A_Port GPIOA
			#define CODER_A_PinSource GPIO_PinSource0

			#define CODER_B_Pin GPIO_Pin_1
			#define CODER_B_Port GPIOA
			#define CODER_B_PinSource GPIO_PinSource1

			#define CODER_I_Pin GPIO_Pin_3
			#define CODER_I_Port GPIOE

			#define CODER_RESOLUTION ((uint32_t)2000) // Number of increments per turn.

			/** @defgroup Encoder Driver / Incremental encoder
			* @brief Driver for an incremental encoder.
			*
			* This driver uses a timer of the STM32, configured as a quadrature decoder.
			*
			* Call enc_Init() first in the initialization code. Then, call enc_GetPosition() to
			* get the decoded value.
			* The output value is the paddle position in degrees, taking the reduction
			* ratio into account.
			*
			* @addtogroup Encoder
			* @{
			*/

			void enc_Init(void);
			float32_t enc_GetPosition(void);
			void enc_SetPosition(float32_t newPosition);

			/**
			* @}
			*/

			#endif