Implement speedometer and encoder

2021-04-01 14:37:47 +02:00
parent e798f0904c
commit fd44f84738
10 changed files with 196 additions and 63 deletions
@@ -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