Implement speedometer and encoder

old/wheelEncoder.cpp

@@ -0,0 +1,19 @@
+#include "wheelEncoder.h"
+
+WheelEncoder::WheelEncoder() {
+
+}
+
+void WheelEncoder::initEncoder(uint8_t pinA, uint8_t pinB) {
+    this->pinA = pinA;
+    this->pinB = pinB;
+
+    pinMode(this->pinA, INPUT_PULLDOWN);
+    pinMode(this->pinB, INPUT_PULLDOWN);
+
+    
+}
+
+int64_t WheelEncoder::getCount() {
+    return this->count;
+}

old/wheelEncoder.h

@@ -0,0 +1,24 @@
+#ifndef WHEEL_ENCODER_H
+#define WHEEL_ENCODER_H
+
+#include <cstdint>
+#include <Arduino.h>
+#include <driver/gpio.h>
+#include <driver/pcnt.h>
+
+class WheelEncoder {
+    public:
+        WheelEncoder();
+        void initEncoder(uint8_t pinA, uint8_t pinB);
+        int64_t getCount();
+
+    private:
+        uint8_t pinA;
+        uint8_t pinB;
+        bool init = false;
+
+        volatile int64_t count = 0;
+
+};
+
+#endif // WHEEL_ENCODER_H