v2.2.2

RCMgames · Jun 2, 2024 · e7d1fd5 · e7d1fd5
1 parent e5274b7
commit e7d1fd5
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Showing 4 changed files with 28 additions and 21 deletions.
diff --git a/examples/example/example.ino b/examples/example/example.ino
@@ -18,11 +18,11 @@ void loop()
     for (int i = 1; i <= 8; i++) {
         if (bsed.isEncoderActive(i)) {
             Serial.print(i);
-            Serial.print(":");
+            Serial.print(": ");
             Serial.print(bsed.getEncoderPosition(i));
-            Serial.print(",");
+            Serial.print(" ");
             Serial.print(bsed.getEncoderVelocity(i));
-            Serial.print(";");
+            Serial.print("; ");
         }
     }
     Serial.println();

diff --git a/extras/firmware/byte-sized-encoder-decoder-firmware/byte-sized-encoder-decoder-firmware.ino b/extras/firmware/byte-sized-encoder-decoder-firmware/byte-sized-encoder-decoder-firmware.ino
@@ -293,17 +293,17 @@ ISR(PCINT0_vect)
     lastPortBPinStates = pinStates;
 
     if (bitRead(changedPins, 0))
-        (bitRead(pinStates, 0) == bitRead(pinStates, 1)) ? encoderCount[4]++ : encoderCount[4]--;
+        (bitRead(pinStates, 0) == bitRead(pinStates, 1)) ? encoderCount[4]-- : encoderCount[4]++;
     if (bitRead(changedPins, 1))
-        (bitRead(pinStates, 0) != bitRead(pinStates, 1)) ? encoderCount[4]++ : encoderCount[4]--;
+        (bitRead(pinStates, 0) != bitRead(pinStates, 1)) ? encoderCount[4]-- : encoderCount[4]++;
     if (bitRead(changedPins, 2))
-        (bitRead(pinStates, 2) == bitRead(pinStates, 3)) ? encoderCount[3]++ : encoderCount[3]--;
+        (bitRead(pinStates, 2) == bitRead(pinStates, 3)) ? encoderCount[3]-- : encoderCount[3]++;
     if (bitRead(changedPins, 3))
-        (bitRead(pinStates, 2) != bitRead(pinStates, 3)) ? encoderCount[3]++ : encoderCount[3]--;
+        (bitRead(pinStates, 2) != bitRead(pinStates, 3)) ? encoderCount[3]-- : encoderCount[3]++;
     if (bitRead(changedPins, 4))
-        (bitRead(pinStates, 4) == bitRead(pinStates, 5)) ? encoderCount[2]++ : encoderCount[2]--;
+        (bitRead(pinStates, 4) == bitRead(pinStates, 5)) ? encoderCount[2]-- : encoderCount[2]++;
     if (bitRead(changedPins, 5))
-        (bitRead(pinStates, 4) != bitRead(pinStates, 5)) ? encoderCount[2]++ : encoderCount[2]--;
+        (bitRead(pinStates, 4) != bitRead(pinStates, 5)) ? encoderCount[2]-- : encoderCount[2]++;
 }
 
 ISR(PCINT1_vect)
@@ -313,29 +313,29 @@ ISR(PCINT1_vect)
     uint8_t changedPins = pinStates ^ lastPortCPinStates;
     lastPortCPinStates = pinStates;
     if (bitRead(changedPins, 0))
-        (bitRead(pinStates, 0) == bitRead(pinStates, 1)) ? encoderCount[1]++ : encoderCount[1]--;
+        (bitRead(pinStates, 0) == bitRead(pinStates, 1)) ? encoderCount[1]-- : encoderCount[1]++;
     if (bitRead(changedPins, 1))
-        (bitRead(pinStates, 0) != bitRead(pinStates, 1)) ? encoderCount[1]++ : encoderCount[1]--;
+        (bitRead(pinStates, 0) != bitRead(pinStates, 1)) ? encoderCount[1]-- : encoderCount[1]++;
     if (bitRead(changedPins, 2))
-        (bitRead(pinStates, 2) == bitRead(pinStates, 3)) ? encoderCount[0]-- : encoderCount[0]++;
+        (bitRead(pinStates, 2) == bitRead(pinStates, 3)) ? encoderCount[0]++ : encoderCount[0]--;
     if (bitRead(changedPins, 3))
-        (bitRead(pinStates, 2) != bitRead(pinStates, 3)) ? encoderCount[0]-- : encoderCount[0]++;
+        (bitRead(pinStates, 2) != bitRead(pinStates, 3)) ? encoderCount[0]++ : encoderCount[0]--;
 }
 ISR(PCINT2_vect)
 {
     uint8_t pinStates = PIND & PORTD_used_pins_mask; // D7-D2
     uint8_t changedPins = pinStates ^ lastPortDPinStates;
     lastPortDPinStates = pinStates;
     if (bitRead(changedPins, 2))
-        (bitRead(pinStates, 2) == bitRead(pinStates, 3)) ? encoderCount[7]++ : encoderCount[7]--;
+        (bitRead(pinStates, 2) == bitRead(pinStates, 3)) ? encoderCount[7]-- : encoderCount[7]++;
     if (bitRead(changedPins, 3))
-        (bitRead(pinStates, 2) != bitRead(pinStates, 3)) ? encoderCount[7]++ : encoderCount[7]--;
+        (bitRead(pinStates, 2) != bitRead(pinStates, 3)) ? encoderCount[7]-- : encoderCount[7]++;
     if (bitRead(changedPins, 4))
-        (bitRead(pinStates, 4) == bitRead(pinStates, 5)) ? encoderCount[6]++ : encoderCount[6]--;
+        (bitRead(pinStates, 4) == bitRead(pinStates, 5)) ? encoderCount[6]-- : encoderCount[6]++;
     if (bitRead(changedPins, 5))
-        (bitRead(pinStates, 4) != bitRead(pinStates, 5)) ? encoderCount[6]++ : encoderCount[6]--;
+        (bitRead(pinStates, 4) != bitRead(pinStates, 5)) ? encoderCount[6]-- : encoderCount[6]++;
     if (bitRead(changedPins, 6))
-        (bitRead(pinStates, 6) == bitRead(pinStates, 7)) ? encoderCount[5]++ : encoderCount[5]--;
+        (bitRead(pinStates, 6) == bitRead(pinStates, 7)) ? encoderCount[5]-- : encoderCount[5]++;
     if (bitRead(changedPins, 7))
-        (bitRead(pinStates, 6) != bitRead(pinStates, 7)) ? encoderCount[5]++ : encoderCount[5]--;
+        (bitRead(pinStates, 6) != bitRead(pinStates, 7)) ? encoderCount[5]-- : encoderCount[5]++;
 }
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=byte-sized-encoder-decoder
-version=2.1.3
+version=2.2.2
 author=RCM Games <robot.control.modules@gmail.com>
 maintainer=RCM Games <robot.control.modules@gmail.com>
 sentence=communicate over I2C with an encoder reading module

diff --git a/src/byte-sized-encoder-decoder.h b/src/byte-sized-encoder-decoder.h
@@ -23,6 +23,10 @@ class ByteSizedEncoderDecoder {
      * @brief  array of 8 numbers representing the last encoder count read from the board
      */
     int16_t lastEncoderCount[8];
+    /**
+     * @brief  array of 8 numbers representing the last encoder count read from the board for velocity calculation
+     */
+    int16_t lastVelocityEncoderCount[8];
     /**
      * @brief  I2C bus to communicate over.
      */
@@ -77,10 +81,12 @@ class ByteSizedEncoderDecoder {
         memset(encoderCount, 0, 8);
         memset(encoderOverflows, 0, 8);
         memset(lastEncoderCount, 0, 8);
+        memset(lastVelocityEncoderCount, 0, 8);
         memset(lastReadMicros, 0, 8);
         memset(encoderVelocity, 0, 8);
         memset(encoderSlowestInterval, _encoderSlowestInterval, 8);
         memset(encoderEnoughCounts, _encoderEnoughCounts, 8);
+        memset(isVelNewVal, 0, 8);
     }
     /**
      * @brief set the value of encoderSlowestInterval
@@ -183,7 +189,8 @@ class ByteSizedEncoderDecoder {
                 int32_t hundredMicrosSinceLastRead = (mic - lastReadMicros[i]) / 100; // using a time interval of 100 microseconds (won't overflow int32)
                 if (hundredMicrosSinceLastRead > (int32_t)(encoderSlowestInterval[i] * 10) || abs(encoderCount[i] - lastEncoderCount[i]) > encoderEnoughCounts[i]) {
                     lastReadMicros[i] = mic;
-                    encoderVelocity[i] = (int32_t)10000 * (encoderCount[i] - lastEncoderCount[i]) / hundredMicrosSinceLastRead;
+                    encoderVelocity[i] = (int32_t)10000 * (encoderCount[i] - lastVelocityEncoderCount[i]) / hundredMicrosSinceLastRead;
+                    lastVelocityEncoderCount[i] = encoderCount[i];
                     isVelNewVal[i] = true;
                 }
             }