116 lines
2.8 KiB
C++
116 lines
2.8 KiB
C++
#define ENC_D1_PIN 17
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#define ENC_D2_PIN 4
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bool reverseEnc = false;
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uint8_t encoderStatus;
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uint32_t encoderCheckTime = 0;
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uint32_t encoderTimeBetweenPulses = 0;
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bool encoderDirectionOld; //0 = -, 1 = +, Old because current direction can be determined by encoderChange
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int8_t encoderChange = 0;
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uint8_t encoderBurstCount = 0;
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void checkEncoderStatus() {
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bool pin1Status = digitalRead(ENC_D1_PIN);
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bool pin2Status = digitalRead(ENC_D2_PIN);
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uint8_t newStatus = (pin1Status << 1) | pin2Status;
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switch(encoderStatus) { // encoderStatus & 0b00000011 - to check only 2 last bits
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case 0b00:
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if (newStatus == 0b01) {
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encoderChange++;
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} else if (newStatus == 0b10) {
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encoderChange--;
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}
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break;
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case 0b01:
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if (newStatus == 0b11) {
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encoderChange++;
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} else if (newStatus == 0b00) {
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encoderChange--;
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}
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break;
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case 0b11:
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if (newStatus == 0b10) {
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encoderChange++;
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} else if (newStatus == 0b01) {
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encoderChange--;
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}
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break;
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case 0b10:
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if (newStatus == 0b00) {
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encoderChange++;
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} else if (newStatus == 0b11) {
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encoderChange--;
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}
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break;
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}
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//encoderStatus = (encoderStatus << 2); //previous status is now stored in bits 2 and 3
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encoderStatus = bitWrite(encoderStatus, 1, pin1Status);
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encoderStatus = bitWrite(encoderStatus, 0, pin2Status); //This can probably be more optimizied with bit logic
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uint32_t currentTime = millis();
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encoderTimeBetweenPulses = currentTime - encoderCheckTime;
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encoderCheckTime = currentTime;
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}
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void setup() {
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Serial.begin(9600);
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pinMode(ENC_D1_PIN, INPUT_PULLUP);
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pinMode(ENC_D2_PIN, INPUT_PULLUP);
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//Enabling PinChange Interrupts for the encoder
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//pins 17 (PC3/PCINT11) and 4 (PD4/PCINT20), ports C and D
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PCICR |= 0b00000110;
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PCMSK1 |= 0b00001000;
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PCMSK2 |= 0b00010000;
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checkEncoderStatus();
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}
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void loop() {
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checkInputs();
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}
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//Encoder interrupts
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ISR (PCINT1_vect) {
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checkEncoderStatus();
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}
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ISR (PCINT2_vect) {
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checkEncoderStatus();
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}
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void checkInputs() {
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//encoder
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// things to try:
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// count "burst" changes and apply acceleration (test the period between ticks in a new sketch)
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if (encoderChange != 0) {
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if (!reverseEnc) {
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encoderChange = encoderChange * -1;
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}
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if (((encoderChange > 0) != encoderDirectionOld) && encoderTimeBetweenPulses < 200) { //filter out encoder "jumps"
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encoderChange = 0;
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}
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encoderDirectionOld = (encoderChange > 0);
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//encoder acceleration
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if (encoderTimeBetweenPulses < 50) {
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encoderBurstCount++;
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} else {
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encoderBurstCount = 0;
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}
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if (encoderBurstCount > 2) {
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encoderChange = encoderChange * 2;
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}
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Serial.print("Change: " + String(encoderChange));
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Serial.println(", Period " + String(encoderTimeBetweenPulses));
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}
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}
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