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

#include <JEncoderPWMAbsoluteAttachInterrupt.h>

Inheritance diagram for JEncoderPWMAbsoluteAttachInterrupt:

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Collaboration diagram for JEncoderPWMAbsoluteAttachInterrupt:

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Public Member Functions
	JEncoderPWMAbsoluteAttachInterrupt (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

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

void	turnOffInterrupts ()
	disable interrupts and stop monitoring encoder

Public Member Functions inherited from 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)
	sets pins and settings for reading the 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

Additional Inherited Members
Protected Attributes inherited from JEncoderPWMAbsolute
byte	encoderPin

Detailed Description

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

Note: make sure to call setUpInterrupts() when your code starts

Constructor & Destructor Documentation

◆ JEncoderPWMAbsoluteAttachInterrupt()

JEncoderPWMAbsoluteAttachInterrupt::JEncoderPWMAbsoluteAttachInterrupt	(	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, or, if they are different, interrupt number
_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 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
_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

◆ setUpInterrupts()

void JEncoderPWMAbsoluteAttachInterrupt::setUpInterrupts ( void(*)(void) _isrPointer )

inlinevirtual

set up pins and interrupts

Parameters

_isrPointer global function that calls internal ISR

Reimplemented from JEncoderPWMAbsolute.

◆ turnOffInterrupts()

void JEncoderPWMAbsoluteAttachInterrupt::turnOffInterrupts ( )

inlinevirtual

disable interrupts and stop monitoring encoder

Note: use setUpInterrupts to start encoder again