restructerd projekt

lib/Speedometer/speedometer.cpp

@@ -0,0 +1,103 @@
+#include "speedometer.h"
+
+Speedometer::Speedometer() {}
+
+void Speedometer::init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps, uint8_t numOfValForAvg) {
+    this->init(pinA, pinB, diameter, steps);
+    this->bufSize = numOfValForAvg;
+}
+
+void Speedometer::init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps) {
+    ESP32Encoder::useInternalWeakPullResistors=DOWN;
+    this->encoder.attachFullQuad(pinA, pinB);
+    this->diameter = diameter;
+    this->steps = steps;
+
+    initAvgBuf();
+
+    this->isInit = true;
+}
+
+void Speedometer::loop() {
+    static uint32_t last_millis = 0;
+    uint32_t time = millis();
+
+    //Cancel if delay is not reached
+    if (time - last_millis < delay) {
+        return;
+    }
+    runSpeedometer();
+    last_millis = time;
+}
+
+void Speedometer::runSpeedometer() {
+    static uint32_t last_millis = 0;
+    uint32_t time = millis();
+
+    uint16_t elapsed_time = time - last_millis;
+    last_millis = time;
+
+    int16_t count = encoder.getCount();
+    this->addValToBuf(count);
+    encoder.clearCount();
+
+    uint16_t count_abs = abs(this->calcAverage());          // Absolute time in milliseconds
+    double n = (double)count_abs / steps;                   // Wheel revolutions in absolute time
+    double u = (double)n / ((double)elapsed_time / 1000);   // Wheel revolutions per second
+    double ms = u * (diameter * PI);                        // Speed in m/s
+
+    if (count > 0) {
+        this->speed = ms;
+    } else if (count < 0) {
+        this->speed = ms * (-1);
+    } else {
+        this->speed = 0;
+    }
+}
+
+void Speedometer::setNumOfValForAvg(uint8_t val) {
+    this->bufSize = val;
+    if (this->isInit) 
+        updateAvgBufSize();
+}
+
+void Speedometer::setEncFilter(uint16_t val) {
+    if (val > 1023) val = 1023;
+    this->encoder.setFilter(val);
+}
+
+void Speedometer::setDelay(uint8_t delay) {
+    this->delay = delay;
+}
+
+double Speedometer::getSpeed() {
+    return this->speed;
+}
+
+void Speedometer::initAvgBuf() {
+    this->buf = new int16_t[bufSize];
+    for (uint8_t i = 0; i < bufSize; i++) 
+        this->buf[i] = 0;
+}
+
+void Speedometer::addValToBuf(int16_t val) {
+    static uint8_t bufPos = 0;
+    this->buf[bufPos] = val;
+    bufPos++;
+
+    if (bufPos == bufSize) {
+        bufPos = 0;
+    }
+}
+
+void Speedometer::updateAvgBufSize() {
+    delete[] this->buf;
+    initAvgBuf();
+}
+
+int16_t Speedometer::calcAverage() {
+    int16_t sum = 0;
+    for (int i = 0; i < bufSize; i++)
+        sum += this->buf[i];
+    return sum / bufSize;
+}