Merge pull request #306 from MaslowCNC/make-encoder-resolution-setable-

Make the encoder resolution value in the RPM calculation updated from Ground Control
MaslowCNC · Sep 19, 2017 · 4b4145c · 4b4145c
2 parents bd2da12 + 4a9085b
commit 4b4145c
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Showing 3 changed files with 17 additions and 1 deletion.
diff --git a/cnc_ctrl_v1/Axis.cpp b/cnc_ctrl_v1/Axis.cpp
@@ -172,6 +172,9 @@ void   Axis::changeEncoderResolution(const int& newResolution){
     */
     _encoderSteps = newResolution;
 
+    //push to the gearbox for calculating RPM
+    motorGearboxEncoder.setEncoderResolution(newResolution);
+
 }
 
 int    Axis::detach(){

diff --git a/cnc_ctrl_v1/MotorGearboxEncoder.cpp b/cnc_ctrl_v1/MotorGearboxEncoder.cpp
@@ -151,6 +151,17 @@ void MotorGearboxEncoder::setPIDAggressiveness(float aggressiveness){
 
 }
 
+void MotorGearboxEncoder::setEncoderResolution(float resolution){
+    /*
+    
+    Change the encoder resolution
+    
+    */
+
+    _encoderStepsToRPMScaleFactor = 60000000.0/resolution; //6*10^7 us per minute divided by 8148 steps per revolution
+
+}
+
 float MotorGearboxEncoder::computeSpeed(){
     /*
     
@@ -162,7 +173,7 @@ float MotorGearboxEncoder::computeSpeed(){
     float    distMoved   =  _runningAverage(encoder.read() - _lastPosition);     //because of quantization noise it helps to average these
 
     //Compute the speed in RPM
-    float RPM = (7364.0*distMoved)/float(timeElapsed);  //6*10^7 us per minute, 8148 steps per revolution
+    float RPM = (_encoderStepsToRPMScaleFactor*distMoved)/float(timeElapsed);
 
     //Store values for next time
     _lastTimeStamp = micros();

diff --git a/cnc_ctrl_v1/MotorGearboxEncoder.h b/cnc_ctrl_v1/MotorGearboxEncoder.h
@@ -35,6 +35,7 @@
             void       initializePID();
             void       setPIDAggressiveness(float aggressiveness);
             void       setPIDValues(float KpV, float KiV, float KdV);
+            void       setEncoderResolution(float resolution);
         private:
             double     _targetSpeed;
             double     _currentSpeed;
@@ -46,6 +47,7 @@
             PID        _posPIDController;
             PID        _negPIDController;
             double     _Kp=0, _Ki=0, _Kd=0;
+            float      _encoderStepsToRPMScaleFactor = 7364.0;   //6*10^7 us per minute divided by 8148 steps per revolution
             int        _oldValue1;
             int        _oldValue2;
             int        _oldValue3;