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Velocity extrapolated position #7

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Merged
merged 4 commits into from
Dec 6, 2015
Merged

Velocity extrapolated position #7

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cab71ef
Added extrapolation
QuentinTorg Dec 5, 2015
9669203
Improved step rate function
QuentinTorg Dec 5, 2015
9c98feb
Improved velocity function
QuentinTorg Dec 6, 2015
7c837d2
Fixed direction change rate timer issue
QuentinTorg Dec 6, 2015
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68 changes: 64 additions & 4 deletions EncoderMod.h
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,7 @@ typedef struct {
float rate;
float rate1;
float rate2;
bool lastRateTimer;
} Encoder_internal_state_t;

class Encoder
Expand Down Expand Up @@ -99,6 +100,7 @@ class Encoder
encoder.rate = 0;
encoder.rate1 = 0;
encoder.rate2 = 0;
lastRateTimer = 0;
if (DIRECT_PIN_READ(encoder.pin1_register, encoder.pin1_bitmask)) s |= 1;
if (DIRECT_PIN_READ(encoder.pin2_register, encoder.pin2_bitmask)) s |= 2;
encoder.state = s;
Expand Down Expand Up @@ -131,12 +133,44 @@ class Encoder
if (interrupts_in_use < 2) {
noInterrupts();
update(&encoder);
} else {
}
else {
noInterrupts();
}
float ret = encoder.rate;
float lastRate = encoder.rate;
float elapsedTime = encoder.stepTime;
interrupts();
return ret;
float extrapolation = lastRate * elapsedTime;
if (extrapolation > 1) {
return (1 / elapsedTime);
}
else if (extrapolation < -1) {
return (-1 / elapsedTime);
}
else {
return (lastRate);
}
}
inline float extrapolate() {
if (interrupts_in_use < 2) {
noInterrupts();
update(&encoder);
}
else {
noInterrupts();
}
float lastRate = encoder.rate;
int32_t lastPosition = encoder.position;
float extrapolation = encoder.stepTime;
interrupts();
extrapolation *= lastRate;
if (extrapolation > 1) {
extrapolation = 1;
}
else if (extrapolation < -1) {
extrapolation = -1;
}
return (extrapolation + lastPosition);
}
#else
inline int32_t read() {
Expand All @@ -147,7 +181,17 @@ class Encoder
encoder.position = p;
}
inline float stepRate() {
return encoder.rate;
return ((extrapolate() - encoder.position) / encoder.stepTime);
}
inline float extrapolate() {
float extrapolation = encoder.rate * encoder.stepTime;
if (extrapolation > 1) {
extrapolation = 1;
}
else if (extrapolation < -1) {
extrapolation = -1;
}
return (extrapolation + encoder.position);
}
#endif
private:
Expand Down Expand Up @@ -302,9 +346,17 @@ class Encoder
case 1: case 7: case 8: case 14:
if (arg->position % 2 == 0) {
arg->rate1 = 0.5 / arg->stepTime;
if (arg->lastRateTimer == 0) {
arg->rate2 = 0;
}
arg->lastRateTimer = 0;
}
else {
arg->rate2 = 0.5 / arg->stepTime;
if (arg->lastRateTimer == 1) {
arg->rate1 = 0;
}
arg->lastRateTimer = 1;
}
arg->stepTime = 0;
arg->rate = (arg->rate1 + arg->rate2);
Expand All @@ -313,9 +365,17 @@ class Encoder
case 2: case 4: case 11: case 13:
if (arg->position % 2 != 0) {
arg->rate1 = -0.5 / arg->stepTime;
if (arg->lastRateTimer == 0) {
arg->rate2 = 0;
}
arg->lastRateTimer = 0;
}
else {
arg->rate2 = -0.5 / arg->stepTime;
if (arg->lastRateTimer == 1) {
arg->rate1 = 0;
}
arg->lastRateTimer = 1;
}
arg->stepTime = 0;
arg->rate = (arg->rate1 + arg->rate2);
Expand Down
1 change: 1 addition & 0 deletions keywords.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,3 +5,4 @@ Encoder KEYWORD1
read KEYWORD2
write KEYWORDD2
stepRate KEYWORD2
extrapolate KEYWORD2