Add encoder rotation acceleration.

2025-05-04 22:36:11 -07:00
parent 90f94c3077
commit a7d47bc820
1 changed files with 8 additions and 0 deletions
--- a/encoder_dir.h
+++ b/encoder_dir.h
@ -106,6 +106,7 @@ class EncoderDir {
    // Return the number of ticks change since last polled.
    int _rotate_change() {
        int position = encoder_.getPosition();
+        unsigned long ms = encoder_.getMillisBetweenRotations();

        // Validation (TODO: add debounce check).
        if (previous_pos_ == position) {
@ -116,6 +117,13 @@ class EncoderDir {
        change = position - previous_pos_;
        previous_pos_ = position;

+        // Encoder rotate acceleration.
+        if (ms < 16) {
+            change *= 3;
+        } else if (ms < 32) {
+            change *= 2;
+        }
+
        return change;
    }