Fixed pulses value (switched backward with forward)

Author: sorre97

rotary_encoder/motorencoder.py

@@ -125,7 +125,7 @@ def stop(self):
         - 1 wheel revolution = 2πR = 2 * π * 30mm = 188.5mm
         - 1920 ticks = 188.5mm
         - 1 tick = 0.0981mm
-        - 1 tick : 0.0981mm = x : 1000mm -> x = 10193 ticks aproximately """
+        - 1 tick : 0.0981mm = x : 1000mm -> x = 10193 ticks approximately """
 
     # callback function
     def rotary_callback(self, tick):

rotary_encoder/rotarydecoder.py

@@ -34,17 +34,31 @@ def __init__(self, pi, feedback_pin_A, feedback_pin_B, callback):
        it returns a 1 if the square waves have A leading B because we're moving forward
        It returns a -1 if the square waves have B leading A because we're moving backwards
        In either case, A is staggered from B by (+-)pi/2 radiants
+       Note: level = 0 falling edge
+                     1 raising edge
+                     2 from watchdog
        
                 +---------+         +---------+            0
                 |         |         |         |
             A   |         |         |         |
                 |         |         |         |
             ----+         +---------+         +----------+ 1   # A leading B
-                      +---------+         +---------+      0   # forward
+                      +---------+         +---------+      0   # backward
                       |         |         |         |
             B         |         |         |         |
                       |         |         |         |
             +---------+         +---------+         +----- 1
+            
+                      +---------+         +---------+      0   
+                      |         |         |         |
+            A         |         |         |         |
+                      |         |         |         |
+            +---------+         +---------+         +----- 1   # B leading A
+                +---------+         +---------+            0   # forward
+                |         |         |         |
+            B   |         |         |         |
+                |         |         |         |
+            ----+         +---------+         +----------+ 1   
    """
    def _pulse(self, gpio, level, tick):
       # interrupt comes from pin A
@@ -57,22 +71,25 @@ def _pulse(self, gpio, level, tick):
       if (gpio != self._lastGpio): # debounce
          self._lastGpio = gpio
 
+         # backward (A leading B)
          if (gpio == self._feedback_pin_A and level == 1):
             if (self._levelB == 0):
-               self._callback(1) # A leading B, moving forward
-               self._direction = 1 # forward
+               self._callback(-1)   # A leading B, moving forward
+               self._direction = -1 # backward
          elif (gpio == self._feedback_pin_A and level == 0):
             if (self._levelB == 1):
-               self._callback(1) # A leading B, moving forward
-               self._direction = 1 # forward
+               self._callback(-1)   # A leading B, moving forward
+               self._direction = -1 # backward
+
+         # forward (B leading A)
          elif (gpio == self._feedback_pin_B and level == 1):
             if (self._levelA == 0):
-               self._callback(-1)   # B leading A, moving forward
-               self._direction = -1 # backwards
+               self._callback(1)   # B leading A, moving forward
+               self._direction = 1 # forward
          elif (gpio == self._feedback_pin_B and level == 0):
             if (self._levelA == 1):
-               self._callback(-1) # A leading B, moving forward
-               self._direction = -1 # forward
+               self._callback(1)   # A leading B, moving forward
+               self._direction = 1 # forward
 
    def cancel(self):
 

rotary_encoder/wheelsaxel.py

@@ -100,39 +100,10 @@ def control_distance(self, power_left=100, power_right=100, target_distance=0):
         self.stop()
 
     """ Motor speed control to travel given distance
-        in given time adjusting power on motors invididually """
+        in given time adjusting power on motors """
     def control_velocity(self, time_elapse=0, target_distance=0):
         pass
 
-    # old control distance, trying to adjust power
-    # def control_distance(self, power_left = 100, power_right = 100, target_distance = 0):
-    #     self._is_moving = True
-    #     delta = 1
-    #
-    #     while(target_distance > 0):
-    #
-    #         self._left_motor.control(min(max(power_left * delta, power_left), 100))
-    #         self._right_motor.control(min(max(power_right * delta, power_right), 100))
-    #
-    #         print("Target distance: " + str(target_distance))
-    #         print("Power left: " + str(power_left * delta))
-    #         print("Power right: " + str(power_right * delta))
-    #
-    #         sleep(.2)
-    #
-    #         try:
-    #             delta = self._left_motor.ticks() / self._right_motor.ticks()
-    #             target_distance = target_distance - self.distance()
-    #         except:
-    #             delta = 1
-    #
-    #         print("delta_ticks: " + str(delta))
-    #         print("new target distance: " + str(target_distance))
-    #         print("")
-    #
-    #     print("Stopping...")
-    #     self.stop()
-
     """ The stop function calls the two stop functions of the two
         correspondent motors. 
         Locks are automatically obtained """