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Add automatically sized buffer for filter #13

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Merged
merged 1 commit into from
Apr 2, 2016
Merged

Add automatically sized buffer for filter #13

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4 changes: 3 additions & 1 deletion EncoderMod.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@
#define FILTER_TIME_LIMIT 10000 //uS at 100/255 pwm we get about 1/0.004 = 250uS/tick so this averages about 4 ticks
#define US_INTERVAL 50 //This must be lower than time difference between ticks will ever be.
#define FILTER_INTERVALS (FILTER_TIME_LIMIT/US_INTERVAL)
#define MAX_BUFFER_SIZE 5000 //This needs to be larger than the max number of ticks that can happen in our filter time limit it needs to be larger so that memory access violations don't occur
#define MAX_BUFFER_SIZE ((int)(FILTER_TIME_LIMIT / 166.66)) //For 10:1 micro metal gear motors. 1sec/(3000rpm at shaft * 10:1 * 12enc/rev) = 166uS/tick


// All the data needed by interrupts is consolidated into this ugly struct
Expand Down Expand Up @@ -166,6 +166,7 @@ class Encoder
return 0.0;
}

int ticksInFilter = 0;
while(1){
//Get how many discrete intervals
if(encoder.uSBuffer[index] == 0){
Expand All @@ -174,6 +175,7 @@ class Encoder
}
int intervals = abs(encoder.uSBuffer[index])/US_INTERVAL;
sumIntervals += intervals;
ticksInFilter++;
if(sumIntervals <= FILTER_INTERVALS){
velocitySum += intervals * (2.0/(float)encoder.uSBuffer[index]);
} else {
Expand Down