added the documentation - fixes #33

Graduation Project Documentation/Embedded/ARM-HAL-drivers@33.md

@@ -0,0 +1,49 @@
+> ### ***This is a documentation for issue #33***    
+> `HAL Drivers`  
+<br>
+
+## Encoder driver
+### We have 5 functions in this driver :
+1. Motor direction
+   ```C
+   u8 HENCODER_u8GetMotorDirection(u8 Copy_u8Channel2Port , u8 Copy_u8Channel2Pin);
+   ```
+	- This function gets direction of the motor by comparing the two sets of pulses from the encoder *(state of the 2 pins)*.
+	- It returns motor direction :
+		- returning 1 means `ClockwiseDirection`
+		- returning 2 means `CounterClockwiseDirection`
+	- It takes 2 parameters :
+		- Parameter1: port ID of encoder pin 
+		- Parameter2: pin ID of encoder pin 
+
+   <br>
+2. Encoder counts 
+   ```C
+   void HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin);
+   ```
+	- This function counts trigger point `rising edge` depending on the motor direction
+	- It takes 2 parameters :
+		- Parameter1: port ID of encoder pin 
+		- Parameter2: pin ID of encoder pin 
+   <br>
+3. Get encoder counts 
+   ```C
+   s32 HENCODER_s32GetEncoderCounts(void);
+   ```
+	- This function gets number of counts to be able to get RPM and distance moved
+	- It returns number of counts depending on motor direction
+   <br>
+4. Get revolution per minite 
+   ```C
+   s32 HENCODER_s32GetRevPerMin(s32 Copy_s32EncoderCounts);
+   ```
+	- This function calculates and returns RPM value.  
+		- RPM equation : *`RPM = (EncoderCounts*60)/EncoderResolution`*	
+   <br>   
+5. Get distance moved 
+   ```C
+   f32 HENCODER_f32GetDistance( s32 Copy_s32EncoderCounts );
+   ```
+	- This function calculates and returns distance moved. 
+		- Distance equation : *`Distance = (EncoderCounts*2*Pi*WheelRadius)/EncoderResolution`*
+