Encoder config

Author: askuric

Encoder.cpp

@@ -29,6 +29,9 @@ Encoder::Encoder(int _encA, int _encB , float _cpr, int _index){
   pulse_per_second = 0;
   prev_pulse_counter = 0;
   prev_timestamp_us = micros();
+
+  // extern pullup as default
+  pullup = Pullup::EXTERN;
 }
 
 //  Encoder interrupt callback functions
@@ -100,9 +103,10 @@ void Encoder::setCounterZero(){
 }
 
 
-void Encoder::init(Pullup mode){
+void Encoder::init(){
+  
   // Encoder - check if pullup needed for your encoder
-  if(mode == INTERN){
+  if(pullup == INTERN){
     pinMode(pinA, INPUT_PULLUP);
     pinMode(pinB, INPUT_PULLUP);
   }else{

Encoder.h

@@ -21,7 +21,7 @@ class Encoder{
     Encoder(int encA, int encB , float cpr, int index = 0);
 
     // encoder intiialise pins
-    void init(Pullup mode);
+    void init();
 
     //  Encoder interrupt callback functions
     //  enabling CPR=4xPPR behaviour
@@ -42,6 +42,8 @@ class Encoder{
     int pinA, pinB;           // encoder hardware pins
     // index pin
     int index;
+    // encoder pullup type
+    Pullup pullup;
 
   private:
     long pulse_counter;       // current pulse counter

examples/HMBGC_example/HMBGC_example.ino

@@ -27,10 +27,14 @@ void setup() {
   // debugging port
   Serial.begin(115200);
 
+
   // check if you need internal pullups
   // Pullup::EXTERN - external pullup added
   // Pullup::INTERN - needs internal arduino pullup
-  encoder.init(Pullup::EXTERN);
+  encoder.pullup = Pullup::EXTERN;
+  // initialise encoder hardware
+  encoder.init();
+
 
   // interupt intitialisation
   PciManager.registerListener(&listenerA);

examples/angle_control/angle_control.ino

@@ -19,10 +19,14 @@ void setup() {
   // debugging port
   Serial.begin(115200);
 
+
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added 
+  // Pullup::EXTERN - external pullup added
   // Pullup::INTERN - needs internal arduino pullup
-  encoder.init(Pullup::EXTERN);
+  encoder.pullup = Pullup::EXTERN;
+  // initialise encoder hardware
+  encoder.init();
+
   // interupt intitialisation
   // A callback and B callback
   attachInterrupt(digitalPinToInterrupt(encoder.pinA), []() {

examples/angle_control_serial/angle_control_serial.ino

@@ -22,10 +22,14 @@ void setup() {
   // debugging port
   Serial.begin(115200);
 
+
   // check if you need internal pullups
   // Pullup::EXTERN - external pullup added
   // Pullup::INTERN - needs internal arduino pullup
-  encoder.init(Pullup::EXTERN);
+  encoder.pullup = Pullup::EXTERN;
+  // initialise encoder hardware
+  encoder.init();
+
   // interupt intitialisation
   // A callback and B callback
   attachInterrupt(digitalPinToInterrupt(encoder.pinA), []() {

examples/velocity_control/velocity_control.ino

@@ -22,7 +22,10 @@ void setup() {
   // check if you need internal pullups
   // Pullup::EXTERN - external pullup added
   // Pullup::INTERN - needs internal arduino pullup
-  encoder.init(Pullup::EXTERN);
+  encoder.pullup = Pullup::EXTERN;
+  // initialise encoder hardware
+  encoder.init();
+
   // interupt intitialisation
   // A callback and B callback
   attachInterrupt(digitalPinToInterrupt(encoder.pinA), []() {
@@ -32,6 +35,7 @@ void setup() {
     encoder.handleB();
   }, CHANGE);
 
+
   // set driver type
   //  DriverType::unipolar
   //  DriverType::bipolar    - default

examples/velocity_control_serial/velocity_control_serial.ino

@@ -23,10 +23,14 @@ void setup() {
   // debugging port
   Serial.begin(115200);
 
+
   // check if you need internal pullups
   // Pullup::EXTERN - external pullup added
   // Pullup::INTERN - needs internal arduino pullup
-  encoder.init(Pullup::EXTERN);
+  encoder.pullup = Pullup::EXTERN;
+  // initialise encoder hardware
+  encoder.init();
+
   // interupt intitialisation
   // A callback and B callback
   attachInterrupt(digitalPinToInterrupt(encoder.pinA), []() {

examples/velocity_ultraslow_control_serial/velocity_ultraslow_control_serial.ino

@@ -23,10 +23,14 @@ void setup() {
   // debugging port
   Serial.begin(115200);
 
+
   // check if you need internal pullups
   // Pullup::EXTERN - external pullup added
   // Pullup::INTERN - needs internal arduino pullup
-  encoder.init(Pullup::EXTERN);
+  encoder.pullup = Pullup::EXTERN;
+  // initialise encoder hardware
+  encoder.init();
+
   // interupt intitialisation
   // A callback and B callback
   attachInterrupt(digitalPinToInterrupt(encoder.pinA), []() {

keywords.txt

@@ -28,6 +28,7 @@ shaft_angle	KEYWIORD2
 shaft_velocity	KEYWIORD2
 controller	KEYWIORD2
 driver	KEYWIORD2
+pullup	KEYWIORD2
 
 
 voltage	KEYWIORD2