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