quanser.hardware.hil.read_encoder_buffer

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Reads the specified number of samples from the encoder channels at the indicated sampling rate.

Syntax

[counts, samples_read, err] = board.read_encoder_buffer(clock, frequency, samples, channels)

Description

Reads the specified number of samples from the encoder channels at the indicated sampling rate. The clock parameter indicates the clock to use as a timebase. This function outputs the counts read as a matrix, in which there is one row for each channel, and one column for each sample. The channels appear in the rows of the output matrix in the same order that they are specified in the channels parameter.

If no err output is provided then it throws an exception if an error occurs. In generated code it prints the error message. Use hil_get_error_message to get the message associated with an error code.

Parameters

board

The board instance returned by the quanser.hardware.hil.open function.

clock

The clock to use as a timebase for the buffered operation. Hardware clocks are numbered incrementally starting at 0, with 0 meaning HARDWARE_CLOCK_0, 1 meaning HARDWARE_CLOCK_1, etc. The number of clocks available depends on the board selected. Refer to Clocks for more information.

Select a board type from the list for board-specific details: .

frequency

The number of samples per second to collect from the specified channels. At each sampling instant, all indicated channels are read.

samples

The number of samples to collect from the specified channels. One sample consists of all the indicated channels.

channels

A vector of channel numbers. Channel numbers are zero-based.

Select a board type from the list for board-specific details: .

Outputs

counts

A matrix of encoder counts, as int32s. There is one row for each channel and one column for each sample.

samples_read

The number of samples read. This value will equal the number of samples specified unless the operation was canceled.

err

A negative error code or zero on success.

Examples

% Reads 5000 samples of encoder channels 0 and 3 at 1 kHz using SYSTEM_CLOCK_1
counts = board.read_encoder_buffer(-1, 1000, 5000, [0 3]);