cpr to ppr

Author: askuric

Encoder.cpp

@@ -8,7 +8,7 @@
   - index pin     - (optional input)
 */
 
-Encoder::Encoder(int _encA, int _encB , float _cpr, int _index){
+Encoder::Encoder(int _encA, int _encB , float _ppr, int _index){
 
   // Encoder measurement structure init
   // hardware pins
@@ -17,7 +17,7 @@ Encoder::Encoder(int _encA, int _encB , float _cpr, int _index){
   // counter setup
   pulse_counter = 0;
   pulse_timestamp = 0;
-  cpr = _cpr;
+  cpr = 4.0*_ppr;
   A_active = 0;
   B_active = 0;
   I_active = 0;

Encoder.h

@@ -15,10 +15,10 @@ class Encoder{
     /*
     Encoder(int encA, int encB , int cpr, int index)
     - encA, encB    - encoder A and B pins
-    - cpr           - counts per rotation number (cpm=ppm*4)
+    - ppr           - impulses per rotation  (cpr=ppr*4)
     - index pin     - (optional input)
     */
-    Encoder(int encA, int encB , float cpr, int index = 0);
+    Encoder(int encA, int encB , float ppr, int index = 0);
 
     // encoder initialise pins
     void init(void (*doA)() = nullptr, void(*doB)() = nullptr);

examples/HMBGC_example/HMBGC_example.ino

@@ -10,9 +10,9 @@
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11);
 //  Encoder(int encA, int encB , int cpr, int index)
 //  - encA, encB    - encoder A and B pins
-//  - cpr           - counts per rotation  (cpm=ppm*4)
+//  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
-Encoder encoder = Encoder(A1, A0, 2400);
+Encoder encoder = Encoder(A1, A0, 600);
 // interrupt ruotine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}

examples/angle_control/angle_control.ino

@@ -11,9 +11,9 @@
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  Encoder(int encA, int encB , int cpr, int index)
 //  - encA, encB    - encoder A and B pins
-//  - cpr           - counts per rotation  (cpm=ppm*4)
+//  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
-Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 32768, 4);
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, 4);
 // interrupt ruotine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}

examples/angle_control_serial/angle_control_serial.ino

@@ -14,9 +14,9 @@ float target_angle = 0;
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  Encoder(int encA, int encB , int cpr, int index)
 //  - encA, encB    - encoder A and B pins
-//  - cpr           - counts per rotation  (cpm=ppm*4)
+//  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
-Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 32768, 4);
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, 4);
 // interrupt ruotine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}

examples/minimal_example/minimal_example.ino

@@ -10,8 +10,8 @@
 
 //  BLDCMotor( phA, phB, phC, pole_pairs,  enable)
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
-//  Encoder(encA, encB , cpr, index)
-Encoder encoder = Encoder(2, 3, 32768, 4);
+//  Encoder(encA, encB , ppr, index)
+Encoder encoder = Encoder(2, 3, 8192, 4);
 
 // interrupt ruotine intialisation
 void doA(){encoder.handleA();}

examples/velocity_control/velocity_control.ino

@@ -11,9 +11,9 @@
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  Encoder(int encA, int encB , int cpr, int index)
 //  - encA, encB    - encoder A and B pins
-//  - cpr           - counts per rotation  (cpm=ppm*4)
+//  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
-Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 32768, 4);
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, 4);
 // interrupt ruotine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}

examples/velocity_control_serial/velocity_control_serial.ino

@@ -15,9 +15,9 @@ float target_velocity = 0;
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  Encoder(int encA, int encB , int cpr, int index)
 //  - encA, encB    - encoder A and B pins
-//  - cpr           - counts per rotation  (cpm=ppm*4)
+//  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
-Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 32768, 4);
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, 4);
 // interrupt ruotine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}

examples/velocity_ultraslow_control_serial/velocity_ultraslow_control_serial.ino

@@ -15,9 +15,9 @@ float target_velocity = 0;
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  Encoder(int encA, int encB , int cpr, int index)
 //  - encA, encB    - encoder A and B pins
-//  - cpr           - counts per rotation  (cpm=ppm*4)
+//  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
-Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 32768, 4);
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, 4);
 // interrupt ruotine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}