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done with all changes for new encoder

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kleiax
2023-02-21 11:18:49 +01:00
parent 8bb38d560e
commit ba91da7ed3
7 changed files with 106 additions and 85 deletions
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lib/Speedometer/speedometer.cpp
+52 -33
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@@ -11,25 +11,18 @@
*/
#include "speedometer.h"
Speedometer::Speedometer() {}
Speedometer::~Speedometer() {
delete[] this->buf;
}
void Speedometer::init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps, uint8_t numOfValForAvg) {
this->init(pinA, pinB, diameter, steps);
Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps, uint8_t numOfValForAvg) {
this->init(pin, 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;
Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
this->init(pin, diameter, steps);
}
initAvgBuf();
this->isInit = true;
Speedometer::~Speedometer() {
delete[] this->buf;
delete this->pulseCounter;
}
uint16_t Speedometer::loop() {
@@ -54,9 +47,27 @@ void Speedometer::runSpeedometer() {
uint16_t elapsed_time = time - last_millis_calc;
last_millis_calc = time;
int16_t count = encoder.getCount();
this->addValToBuf(count);
this->encoder.clearCount();
int16_t count = this->pulseCounter->get_value();
switch (this->currentDirection) {
case Direction::Forward :
this->addValToBuf(count);
break;
case Direction::Backward :
this->addValToBuf(-count);
break;
case Direction::None :
this->addValToBuf(0);
break;
default:
std::cout << "Wrong value in Speedometer::runSpeedometer" << std::endl;
break;
}
this->pulseCounter->clear();
this->pulseCounter->resume();
uint16_t count_abs = abs(this->calcAverage()); // Absolute time in milliseconds
double n = (double)count_abs / steps; // Wheel revolutions in absolute time
@@ -71,41 +82,49 @@ void Speedometer::runSpeedometer() {
this->speed = 0;
}
std::cout << "Speedometer::runSpeedometer speed: " << (int) this->speed << std::endl;
// std::cout << "Speedometer::runSpeedometer speed: " << (int) this->speed << std::endl;
}
void Speedometer::setNumOfValForAvg(uint8_t val) {
this->bufSize = val;
if (this->isInit)
updateAvgBufSize();
updateAvgBufSize();
}
void Speedometer::setEncFilter(uint16_t val) {
if (val > 1023)
val = 1023;
this->encoder.setFilter(val);
}
void Speedometer::setDelay(uint8_t delayLoop) {
this->delayLoop = delayLoop;
}
double Speedometer::getSpeed() {
return this->speed;
this->pulseCounter->set_filter_value(val);
}
void Speedometer::calibrationMeasurementStart() {
this->calibrationRunning = true;
this->encoder.clearCount();
this->pulseCounter->clear();
this->pulseCounter->resume();
}
uint16_t Speedometer::calibrationMeasurementStop() {
this->calibrationRunning = false;
uint16_t res = abs(this->encoder.getCount());
this->encoder.clearCount();
uint16_t res = abs(this->pulseCounter->get_value());
this->pulseCounter->clear();
this->pulseCounter->resume();
return res;
}
void Speedometer::init(uint8_t pin, double diameter, uint16_t steps) {
this->diameter = diameter;
this->steps = steps;
this->pulseCounter = new PulseCounter();
this->pulseCounter->initialise(pin, PCNT_PIN_NOT_USED);
this->pulseCounter->set_mode(PCNT_COUNT_INC, PCNT_COUNT_DIS, PCNT_MODE_KEEP, PCNT_MODE_KEEP);
this->pulseCounter->set_filter_value(1000); // ignore pulses less than 1000 x 2.5ns
this->pulseCounter->clear();
this->pulseCounter->resume();
initAvgBuf();
}
void Speedometer::initAvgBuf() {
this->buf = new int16_t[bufSize];
for (uint8_t i = 0; i < bufSize; i++)