restructerd projekt

lib/Speedometer/speedometer.h

@@ -0,0 +1,120 @@
+/**
+ * @file speedometer.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief A complete implementation to measure wheel speeds with an encoder.
+ * @version 0.1
+ * @date 2021-12-09
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
+#ifndef SPEEDOMETER_H
+#define SPEEDOMETER_H
+
+#include <cstdint>
+#include <ESP32Encoder.h>
+
+/**
+ * @brief The default size of numbers to be taken in account for the average.
+ * 
+ */
+#define BUFSIZE 10
+
+/**
+ * @brief Default value for min Millisseconds between each loop
+ * @see setDelay(uint8_t val)
+ */
+#define DELAY 30
+#define PI 3.1415926535897932384626433832795
+
+/**
+ * @brief A class which use a encoder to calc the speed
+ * 
+ * This class use ESP32 pulse counter hardware peripheral.
+ * The calclutaed speed is the average of an amount of last measurments.
+ * 
+ */
+class Speedometer {
+    public:
+        Speedometer();
+
+        /**
+         * @brief Initalize the speedometer
+         * 
+         * @param pinA Pin on the Esp from the encoder.
+         * @param pinB Pin on the Esp from the encoder.
+         * @param diameter Diameter of the wheel in meters.
+         * @param steps Encodersteps for a complete wheel rotation.
+         * @param numOfValForAvg Number of last values ​​to be taken into account for the average.
+         */
+        void init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps, uint8_t numOfValForAvg);
+        void init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps);
+
+        /**
+         * @brief Calls runSpeedometer() to update all Values.
+         * 
+         * This function should be called every mainloop. If the delay is not reached, than the
+         * functions returns immediately.
+         * @see runSpeedometer()
+         * @see DELAY
+         */
+        void loop();
+
+        /**
+         * @brief Noramly called repeatedly by loop to calcluate new values.
+         * 
+         * Add a new Value to the average and update the speed.
+         */
+        void runSpeedometer();
+
+        /**
+         * @brief Set the number of last values ​​to be taken into account for the average.
+         * 
+         * @param val length of the array
+         */
+        void setNumOfValForAvg(uint8_t val);
+
+        /**
+         * @brief Set the Enc Filter to prevent bouncing
+         * 
+         * @param val default = 250, max = 1023
+         */
+        void setEncFilter(uint16_t val);
+
+        /**
+         * @brief Set the min delay between each loop
+         * 
+         * @param val time in Milliseconds
+         */
+        void setDelay(uint8_t delay);
+
+        /**
+         * @brief Get the calculated speed of the Wheel
+         * 
+         * @return double speed in m/s
+         */
+        double getSpeed();
+
+
+    private:
+        void initAvgBuf();
+        void addValToBuf(int16_t val);
+        void updateAvgBufSize();
+        int16_t calcAverage();
+
+        ESP32Encoder encoder;
+
+        bool isInit = false;
+
+        double speed = 0;
+        double diameter;
+
+        uint8_t bufSize = BUFSIZE;
+        uint16_t steps;
+        uint8_t delay = DELAY;
+
+        int16_t *buf;
+};
+
+#endif // SPEEDOMETER_H