reads a PWM signal from an absolute encoder More...

#include <JEncoderPWMAbsolute.h>

Inheritance diagram for JEncoderPWMAbsolute:

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Collaboration diagram for JEncoderPWMAbsolute:

Classes
struct	pwmSettings
	struct for holding parameters for reading PWM Absolute Encoders More...

Public Member Functions
	JEncoderPWMAbsolute (byte _encoderPin, pwmSettings _ps, bool _reverse=false, float _distPerCountFactor=1.0, unsigned long _velEnoughTime=0, unsigned long _velEnoughTicks=0, bool _resetAngleOnStart=false, uint16_t _zeroPos=0)
	sets pins and settings for reading the encoder

virtual void	setUpInterrupts (void(*_isrPointer)(void))
	set up pins and interrupts

virtual void	turnOffInterrupts ()
	disable interrupts and stop monitoring encoder

int	rawReading ()

long	intTurns ()
	how many full turns the encoder has made.

long	zeroCounter ()
	reset the counter of how far the encoder has turned

long	zeroCounter (bool resetAngle)
	reset the zero point of the encoder

float	getVel ()
	calculates velocity in distance per second where distance was set by setdistPerCountFactor()

long	getCounter ()
	returns how far the encoder has turned from the zero position

float	getPos ()
	returns how far the encoder has turned from the zero position converted to distance

float	getDistPerCountFactor ()
	returns a conversion factor between encoder ticks and distance that can be set for the encoder

void	setDistPerCountFactor (float _factor)

bool	hasDirection ()
	can this encoder measure direction or just speed

bool	isVelNew ()
	could be useful for only recalculating a control loop if there's new velocity data

bool	setZeroPos (uint16_t zeroAngle)
	change what angle of the absolute encoder is zero

void	run ()

void	encoderISR ()

Public Member Functions inherited from JEncoder
virtual void	setRev (bool _rev)
	empty function for directionless encoders to override

Protected Attributes
byte	encoderPin

Detailed Description

reads a PWM signal from an absolute encoder

tested with https://ams.com/as0548b

Note: platform: esp32, teensy
(could be used with standard avr arduinos but only with pins that support attachInterrupt())

Constructor & Destructor Documentation

◆ JEncoderPWMAbsolute()

JEncoderPWMAbsolute::JEncoderPWMAbsolute	(	byte	_encoderPin,
		pwmSettings	_ps,
		bool	_reverse = `false`,
		float	_distPerCountFactor = `1.0`,
		unsigned long	_velEnoughTime = `0`,
		unsigned long	_velEnoughTicks = `0`,
		bool	_resetAngleOnStart = `false`,
		uint16_t	_zeroPos = `0`
	)

inline

sets pins and settings for reading the encoder

Parameters

_encoderPin	pin to read encoder signal with
_ps	(struct pwmSettings) parameters of encoder signal
_reverse	(bool) reverse positive direction, default=false
_distPerCountFactor	(float) for the purposes of setting this factor a "count" is considered a full revolution of the absolute encoder
_velEnoughTime	(default=0, no limit) shortest interval (in MICROseconds) between velocity calculations, if run() is called faster the calculation will wait to run
_velEnoughTicks	(default=0, no limit) if the encoder turns more than this number of steps velocity calculations will be done even if velEnoughTime hasn't been reached
_resetAngleOnStart	(default=false) zero encoder angle on startup (in encoder units)
_zeroPos	(default=0) change what angle of the absolute encoder is considered zero. set _resetAngleOnStart to false to keep setting from being overridden

Member Function Documentation

◆ encoderISR()

void JEncoderPWMAbsolute::encoderISR ( )

inline

◆ getCounter()

long JEncoderPWMAbsolute::getCounter ( )

inlinevirtual

returns how far the encoder has turned from the zero position

Note: remember that variables overflow

Return values

(long) encoder ticks

Reimplemented from JEncoder.

◆ getDistPerCountFactor()

float JEncoderPWMAbsolute::getDistPerCountFactor ( )

inlinevirtual

returns a conversion factor between encoder ticks and distance that can be set for the encoder

Note: default is 1.0

Return values

(float) distPerCountFactor

Reimplemented from JEncoder.

◆ getPos()

float JEncoderPWMAbsolute::getPos ( )

inlinevirtual

returns how far the encoder has turned from the zero position converted to distance

Note: remember that variables overflow (counter) and that floats have limited precision

Return values

(float) encoder ticks converted to distance

Reimplemented from JEncoder.

◆ getVel()

float JEncoderPWMAbsolute::getVel ( )

inlinevirtual

calculates velocity in distance per second where distance was set by setdistPerCountFactor()

Return values

(float) velocity

Reimplemented from JEncoder.

◆ hasDirection()

bool JEncoderPWMAbsolute::hasDirection ( )

inlinevirtual

can this encoder measure direction or just speed

Return values

(bool) true = can measure direction

Reimplemented from JEncoder.

◆ intTurns()

long JEncoderPWMAbsolute::intTurns ( )

inline

how many full turns the encoder has made.

Note: this and rawReading can be used as an alternative to getPos if the limited precision of a float is a concern

Return values

(long) how far the encoder has turned

◆ isVelNew()

bool JEncoderPWMAbsolute::isVelNew ( )

inlinevirtual

could be useful for only recalculating a control loop if there's new velocity data

Return values

(bool) true if velocity has changed since this function was last called

Reimplemented from JEncoder.

◆ rawReading()

int JEncoderPWMAbsolute::rawReading ( )

inline

Note: divide by RESOLUTION to get fraction of full turn

Return values

the	angle reading from the sensor [0, RESOLUTION) (but negative if reverse is true)

◆ run()

void JEncoderPWMAbsolute::run ( )

inlinevirtual

Note: call this function as frequently as possible or this code can't keep track of how many times the encoder has turned

Reimplemented from JEncoder.

◆ setDistPerCountFactor()

void JEncoderPWMAbsolute::setDistPerCountFactor ( float _factor )

inlinevirtual

Note: for the purposes of setting this factor a "count" is considered a full revolution of the absolute encoder. it is converted to actual counts within this function

Reimplemented from JEncoder.

◆ setUpInterrupts()

virtual void JEncoderPWMAbsolute::setUpInterrupts ( void(*)(void) _isrPointer )

virtual

set up pins and interrupts

Parameters

_isrPointer global function that calls internal ISR

Reimplemented in JEncoderPWMAbsoluteAttachInterrupt, and JEncoderPWMAbsolutePinChange.

◆ setZeroPos()

bool JEncoderPWMAbsolute::setZeroPos ( uint16_t zeroAngle )

inline

change what angle of the absolute encoder is zero

Note: this will cause distance to jump some

Parameters

zeroAngle [0,ps.RESOLUTION-1)

Return values

(bool) did the zeroAngle change

◆ turnOffInterrupts()

virtual void JEncoderPWMAbsolute::turnOffInterrupts ( )

virtual

disable interrupts and stop monitoring encoder

Note: use setUpInterrupts to start encoder again

Reimplemented in JEncoderPWMAbsoluteAttachInterrupt, and JEncoderPWMAbsolutePinChange.

◆ zeroCounter() [1/2]

long JEncoderPWMAbsolute::zeroCounter ( )

inlinevirtual

reset the counter of how far the encoder has turned

Return values

(long) returns value of counter before it is reset

Reimplemented from JEncoder.

◆ zeroCounter() [2/2]

long JEncoderPWMAbsolute::zeroCounter ( bool resetAngle )

inline

reset the zero point of the encoder

Parameters

resetAngle (bool) true=set the next read angle as zero, false=reset turns, but leave absolute angle measurement as is

Return values

(long) old position (number of turns, not including angle!)

Member Data Documentation

◆ encoderPin

byte JEncoderPWMAbsolute::encoderPin

protected

The documentation for this class was generated from the following file:

src/JEncoder/JEncoderPWMAbsolute.h

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JEncoderPWMAbsolute()

Member Function Documentation

◆ encoderISR()

◆ getCounter()

◆ getDistPerCountFactor()

◆ getPos()

◆ getVel()

◆ hasDirection()

◆ intTurns()

◆ isVelNew()

◆ rawReading()

◆ run()

◆ setDistPerCountFactor()

◆ setUpInterrupts()

◆ setZeroPos()

◆ turnOffInterrupts()

◆ zeroCounter() [1/2]

◆ zeroCounter() [2/2]

Member Data Documentation

◆ encoderPin