Added threshold to odometry counter.

In order to suppress bouncing.

Author: dhebbeker

robot-control-src/Drives.hpp

@@ -26,17 +26,23 @@ class Drive
 	{
 		target = counter = 0;
 		pinMode(odoPin, INPUT);
-		attachInterrupt(digitalPinToInterrupt(odoPin), evaluateInterval, FALLING);
+		attachInterrupt(digitalPinToInterrupt(odoPin), evaluateInterval, RISING);
 
 		analogWrite(motorControlpin, 0);
 		pinMode(directionPin, OUTPUT);
 	}
 
 	IRAM_ATTR static void evaluateInterval()
 	{
-		if (++counter >= target)
+		const Milliseconds now = millis();
+		static Milliseconds riseTime = now;
+		if(now - riseTime > board::odoMinIntervalDuration)
 		{
-			stop();
+			if (++counter >= target)
+			{
+				stop();
+			}
+			riseTime = now;
 		}
 	}
 

robot-control-src/board.hpp

@@ -41,6 +41,8 @@ constexpr auto maxVelocity = 220; //!< [mm/s]
 constexpr float odoIntervalLength = 12*pi; //!< [mm]
 //! Minimum time with buffer factor [ms]
 constexpr Milliseconds odoMinIntervalDuration = (odoIntervalLength * 1000.0) / (maxVelocity*2.0);
+static_assert(odoMinIntervalDuration > 38, "threshold must be greater than longest pulse of photoelectric sensor (measured at slowest speed)");
+static_assert(odoMinIntervalDuration < 142, "threshold must be smaller than shortest odometry interval between pulses (measured at highest speed)");
 };
 
 #endif // BOARD_HPP