finished new encoder

include/moveControlConfig.h

@@ -18,7 +18,7 @@
     #define M_DIR_21 23
     #define M_DIR_22 14
     #define M_PWM_2 22
-    #define M_ENCODE_RIGHT 12
+    #define M_ENCODE_RIGHT 33
 
 // PID config
     #define PID_OUT_MIN -100

lib/Counter/counter.cpp

@@ -0,0 +1,56 @@
+#include "counter.h"
+#include <inttypes.h>
+
+uint8_t Counter::amountOfCounter = 0;
+
+Counter::Counter(uint8_t pin) {
+    this->pulsePin = pin;
+
+    this->unit = static_cast<pcnt_unit_t>(Counter::amountOfCounter);
+    if (Counter::amountOfCounter < 7)
+        Counter::amountOfCounter++;
+
+    pcnt_config_t config;
+    config.unit = this->unit;
+    config.channel = PCNT_CHANNEL_0;
+    config.counter_h_lim = COUNTER_HIGH_LIMIT;
+    config.counter_l_lim = COUNTER_LOW_LIMIT;
+    config.ctrl_gpio_num = PCNT_PIN_NOT_USED;
+    config.hctrl_mode = PCNT_CHANNEL_LEVEL_ACTION_KEEP;
+    config.lctrl_mode = PCNT_CHANNEL_LEVEL_ACTION_KEEP;
+    config.pulse_gpio_num = this->pulsePin;
+    config.pos_mode = PCNT_CHANNEL_EDGE_ACTION_INCREASE;
+    config.neg_mode = PCNT_CHANNEL_EDGE_ACTION_HOLD;
+    pcnt_unit_config(&config);
+}
+
+void Counter::pause() {
+    pcnt_counter_pause(this->unit);
+}
+
+void Counter::resume() {
+    pcnt_counter_resume(this->unit);
+}
+
+void Counter::clear() {
+    pcnt_counter_clear(this->unit);
+}
+
+int16_t Counter::getValue() {
+    int16_t res;
+    pcnt_get_counter_value(this->unit, &res);
+    return res;
+}
+
+void Counter::setFilterValue(uint16_t value) {
+    pcnt_set_filter_value(this->unit, value);
+    this->filterEnable();
+}
+
+void Counter::filterEnable() {
+    pcnt_filter_enable(this->unit);
+}
+
+void Counter::filterDisable() {
+    pcnt_filter_disable(this->unit);
+}

lib/Counter/counter.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <Arduino.h>
+#include <driver/pcnt.h>
+
+#define COUNTER_HIGH_LIMIT INT16_MAX
+#define COUNTER_LOW_LIMIT 0
+
+class Counter {
+    public:
+        Counter(uint8_t pin);
+
+        void pause();
+        void resume();
+        void clear();
+
+        int16_t getValue();
+
+        void setFilterValue(uint16_t value);
+        void filterEnable();
+        void filterDisable();
+
+    private:
+        static uint8_t amountOfCounter;
+
+        bool initalised = false;
+
+        uint8_t pulsePin;
+        pcnt_unit_t unit;
+};

lib/Speedometer/speedometer.cpp

@@ -47,7 +47,7 @@ void Speedometer::runSpeedometer() {
     uint16_t elapsed_time = time - last_millis_calc;
     last_millis_calc = time;
 
-    int16_t count = this->pulseCounter->get_value();
+    int16_t count = this->pulseCounter->getValue();
     switch (this->currentDirection) {
         case Direction::Forward :
             this->addValToBuf(count);
@@ -93,20 +93,23 @@ void Speedometer::setNumOfValForAvg(uint8_t val) {
 void Speedometer::setEncFilter(uint16_t val) {
     if (val > 1023) 
         val = 1023;
-    this->pulseCounter->set_filter_value(val);
+    this->pulseCounter->setFilterValue(val);
 }
 
 void Speedometer::calibrationMeasurementStart() {
+    std::cout << "Start" << std::endl;
     this->calibrationRunning = true;
     this->pulseCounter->clear();
     this->pulseCounter->resume();
 }
 
 uint16_t Speedometer::calibrationMeasurementStop() {
+    std::cout << "Ende" << std::endl;
     this->calibrationRunning = false;
-    uint16_t res = abs(this->pulseCounter->get_value());
+    uint16_t res = abs(this->pulseCounter->getValue());
     this->pulseCounter->clear();
     this->pulseCounter->resume();
+    std::cout << "Result: " << res << std::endl;
     return res;
 }
 
@@ -114,10 +117,8 @@ 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 = new Counter(pin);
+    this->pulseCounter->setFilterValue(1000); // ignore pulses less than 1000 x 2.5ns
 
     this->pulseCounter->clear();
     this->pulseCounter->resume();

lib/Speedometer/speedometer.h

@@ -15,7 +15,8 @@
 #include <Arduino.h>
 #include <cstdint>
 #include <iostream>
-#include <esp32_pcnt.h>
+
+#include "counter.h"
 
 /**
  * @brief The default size of numbers to be taken in account for the average.
@@ -153,7 +154,7 @@ class Speedometer {
         void updateAvgBufSize();
         int16_t calcAverage();
 
-        PulseCounter* pulseCounter;
+        Counter* pulseCounter;
         Direction currentDirection = Direction::None;
 
         bool calibrationRunning = false;

platformio.ini

@@ -25,17 +25,15 @@ 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
+monitor_filters = esp32_exception_decoder
 check_tool = clangtidy
 
 [platformio]

src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp

@@ -13,6 +13,7 @@
 
 SpeedometerTest::SpeedometerTest(Speedometer* speedometer) {
     this->speedometer = speedometer;
+    this->speedometer->setDirection(Speedometer::Forward);
 }
 
 

src/moveControl.cpp

@@ -60,6 +60,10 @@ void MoveControl::loop() {
         ||  left_speed_time > 50
         ||  right_speed_time > 50) {
 
+        // Dont count overTimeCounter if one speedometer is in TestMode.
+        if (left_speed_time == UINT16_MAX || right_speed_time == UINT16_MAX)
+            this->overTimeCounter--;
+
         this->overTimeCounter++;
         if (this->overTimeCounter >= this->overTimeMax) {
             char buf[128];