done with all changes for new encoder

include/moveControlConfig.h

@@ -13,14 +13,12 @@
     #define M_DIR_11 12
     #define M_DIR_12 27
     #define M_PWM_1 13
-    #define M_ENCODE_1A 32
+    #define M_ENCODE_LEFT 26
-    #define M_ENCODE_1B 33
     //Right Motor
     #define M_DIR_21 23
     #define M_DIR_22 14
     #define M_PWM_2 22
-    #define M_ENCODE_2A 25
+    #define M_ENCODE_RIGHT 12
-    #define M_ENCODE_2B 26
 
 // PID config
     #define PID_OUT_MIN -100

lib/PulseCounter/pulseCounter.h

@@ -1,27 +0,0 @@
-/**
- * @file pulseCounter.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2023-02-18
- * 
- * @copyright Copyright (c) 2023
- * 
- */
-
-#pragma once
-
-#include <stdint.h.h>
-#include <Arduino.h>
-#include <esp32_pcnt.h>
-
-class PulseCounter {
-    public:
-        PulseCounter(uint8_t pin, uint8_t unit);
-
-    private:
-        uint8_t pin;
-        uint8_t unit;
-
-        int16_t counter = 0;
-};

lib/Speedometer/speedometer.cpp

@@ -11,25 +11,18 @@
  */
 #include "speedometer.h"
 
-Speedometer::Speedometer() {}
+Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps, uint8_t numOfValForAvg) {
-Speedometer::~Speedometer() {
+    this->init(pin, diameter, steps);
-    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);
     this->bufSize = numOfValForAvg;
 }
 
-void Speedometer::init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps) {
+Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
-    ESP32Encoder::useInternalWeakPullResistors=DOWN;
+    this->init(pin, diameter, steps);
-    this->encoder.attachFullQuad(pinA, pinB);
+}
-    this->diameter = diameter;
-    this->steps = steps;
 
-    initAvgBuf();
+Speedometer::~Speedometer() {
-
+    delete[] this->buf;
-    this->isInit = true;
+    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();
+    int16_t count = this->pulseCounter->get_value();
+    switch (this->currentDirection) {
+        case Direction::Forward :
             this->addValToBuf(count);
-    this->encoder.clearCount();
+            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();
 }
 
 void Speedometer::setEncFilter(uint16_t val) {
     if (val > 1023) 
         val = 1023;
-    this->encoder.setFilter(val);
+    this->pulseCounter->set_filter_value(val);
-}
-
-void Speedometer::setDelay(uint8_t delayLoop) {
-    this->delayLoop = delayLoop;
-}
-
-double Speedometer::getSpeed() {
-    return this->speed;
 }
 
 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());
+    uint16_t res = abs(this->pulseCounter->get_value());
-    this->encoder.clearCount();
+    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++) 

lib/Speedometer/speedometer.h

@@ -15,7 +15,7 @@
 #include <Arduino.h>
 #include <cstdint>
 #include <iostream>
-#include <ESP32Encoder.h>
+#include <esp32_pcnt.h>
 
 /**
  * @brief The default size of numbers to be taken in account for the average.
@@ -39,20 +39,31 @@
  */
 class Speedometer {
     public:
-        Speedometer();
+        /**
-        ~Speedometer();
+         * @brief Enum to control the direction.
+         * 
+         * If the Direction is Forward, the internal counter counts up and a positiv speed will be returned.
+         * If the Direction is Backward, the internal counter counts down and a negativ speed will be returned.
+         * If the Dorection is None, no measurement will be taken.
+         */
+        enum Direction {
+            None,
+            Forward,
+            Backward
+        };
 
         /**
-         * @brief Initialize the speedometer
+         * @brief Construct a new Speedometer object
          * 
-         * @param pinA Pin on the Esp from the encoder.
+         * @param pin 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);
+        Speedometer(uint8_t pin, double diameter, uint16_t steps, uint8_t numOfValForAvg);
-        void init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps);
+        Speedometer(uint8_t pin, double diameter, uint16_t steps);
+
+        ~Speedometer();
 
         /**
          * @brief Calls runSpeedometer() to update all Values.
@@ -72,6 +83,13 @@ class Speedometer {
          */
         void runSpeedometer();
 
+        /**
+         * @brief Set the direction
+         * 
+         * @param dir Direction
+         */
+        void setDirection(Direction dir) { this->currentDirection = dir; }
+
         /**
          * @brief Set the number of last values ​​to be taken into account for the average.
          * 
@@ -82,7 +100,9 @@ class Speedometer {
         /**
          * @brief Set the Enc Filter to prevent bouncing
          * 
-         * @param val default = 250, max = 1023
+         *  ignore pulses less than val x 2.5ns
+         * 
+         * @param val default = 1000, max = 1023
          */
         void setEncFilter(uint16_t val);
 
@@ -91,14 +111,21 @@ class Speedometer {
          * 
          * @param delayLoop time in Milliseconds
          */
-        void setDelay(uint8_t delayLoop);
+        void setDelay(uint8_t delayLoop) { this->delayLoop = delayLoop; }
+
+        /**
+         * @brief Get the Direction
+         * 
+         * @return Direction 
+         */
+        Direction getDirection() { return this->currentDirection; }
 
         /**
          * @brief Get the calculated speed of the Wheel
          * 
          * @return double speed in m/s
          */
-        double getSpeed();
+        double getSpeed() { return this->speed; }
 
         /**
          * @brief Start calibration
@@ -120,14 +147,15 @@ class Speedometer {
 
 
     private:
+        void init(uint8_t pin, double diameter, uint16_t steps);
         void initAvgBuf();
         void addValToBuf(int16_t val);
         void updateAvgBufSize();
         int16_t calcAverage();
 
-        ESP32Encoder encoder;
+        PulseCounter* pulseCounter;
+        Direction currentDirection = Direction::None;
 
-        bool isInit = false;
         bool calibrationRunning = false;
 
         double speed = 0;

platformio.ini

@@ -16,9 +16,7 @@ framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
 monitor_port = COM3
-monitor_filters = esp32_exception_decoder
 lib_deps = 
-	madhephaestus/ESP32Encoder@^0.10.1
 	jvpernis/PS3 Controller Host@^1.1.0
 	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.2.7
 	knolleary/PubSubClient@^2.8
@@ -27,15 +25,18 @@ lib_deps =
 	marian-craciunescu/ESP32Ping@^1.7
 	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.1.1
+	mike-gofton/ESP32PulseCounter@^0.2.0
 	https://git.kleiax.de/PlatformIO-Libs/Menu.git#v1.0
 upload_port = COM3
 
 [env:release]
 build_type = release
+lib_deps = mike-gofton/ESP32PulseCounter@^0.2.0
 
 [env:debug]
 monitor_filters = esp32_exception_decoder
 build_type = debug
+check_tool = clangtidy
 
 [platformio]
 description = A Rover who should be drive a route by gps.

src/moveControl.cpp

@@ -13,8 +13,8 @@
 MoveControl::MoveControl() {
     this->left_motor = new MotorControl();
     this->right_motor = new MotorControl();
-    this->left_speedometer = new Speedometer;
+    this->left_speedometer = new Speedometer(M_ENCODE_LEFT, WHEEL_DIAMETER, ENC_STEPS);
-    this->right_speedometer = new Speedometer;
+    this->right_speedometer = new Speedometer(M_ENCODE_RIGHT, WHEEL_DIAMETER, ENC_STEPS);
 
     this->left_pid = new PID(   &this->wheelspeed_left,
                                 &this->left_pid_out,
@@ -37,14 +37,16 @@ MoveControl::MoveControl() {
 
     this->left_motor->init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
     this->right_motor->init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);                              
-
-    this->left_speedometer->init(M_ENCODE_1A, M_ENCODE_1B, WHEEL_DIAMETER, ENC_STEPS);
-    this->right_speedometer->init(M_ENCODE_2A, M_ENCODE_2B, WHEEL_DIAMETER, ENC_STEPS);                               
 }
 
 MoveControl::~MoveControl() {
     this->left_motor->emergencyStop();
     this->right_motor->emergencyStop();
+
+    delete this->left_motor;
+    delete this->right_motor;
+    delete this->left_speedometer;
+    delete this->right_speedometer;
 }
 
 void MoveControl::loop() {