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Fix Encoder Driver

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Aadi Desai 2022-03-25 14:55:43 +00:00
parent 4e9e486c96
commit 4d0cc666f6
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GPG key ID: CFFFE425830EF4D9
2 changed files with 64 additions and 32 deletions
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13
lib/knob/knob
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@ -3,13 +3,18 @@
class Knob {
private:
int rotation;
int minimum, maximum;
int rotation, rotationInternal;
int minimum, maximum, previousRotation;
bool A, B;
bool rotPlusOnePrev, rotMinOnePrev;
enum PrevRot {
NONE,
CW,
ACW,
};
public:
Knob(int minimum, int max);
Knob(int minimum, int maximum, int initialRotation);
Knob(int minimum, int maximum) : Knob(minimum, maximum, minimum) {} // Delegate to full constructor, using minimum as initial rotation
int getRotation();

83
lib/knob/knob.cpp
View file

@ -1,13 +1,13 @@
#include <knob>
Knob::Knob(int minimum, int maximum) {
Knob::Knob(int minimum, int maximum, int initialRotation) {
Knob::minimum = minimum;
Knob::maximum = maximum;
Knob::A = false;
Knob::B = false;
Knob::rotPlusOnePrev = false;
Knob::rotMinOnePrev = false;
Knob::rotation = 0;
Knob::previousRotation = NONE;
Knob::rotation = initialRotation;
Knob::rotationInternal = initialRotation;
}
int Knob::getRotation() {
@ -15,34 +15,61 @@ int Knob::getRotation() {
};
void Knob::updateRotation(bool ANew, bool BNew) {
bool rotPlusOneNew = (!B && !A && !BNew && ANew) ||
(!B && A && BNew && ANew) ||
(B && !A && !BNew && !ANew) ||
(B && A && BNew && !ANew);
if (A == ANew && B == BNew)
return; // No change, do not update values
bool rotMinOneNew = (!B && !A && BNew && !ANew) ||
(!B && A && !BNew && !ANew) ||
(B && !A && BNew && ANew) ||
(B && A && !BNew && ANew);
bool fullstep = (BNew && ANew) || (!BNew && !ANew);
bool impossibleState = (!B && !A && BNew && ANew) ||
(!B && A && BNew && !ANew) ||
(B && !A && !BNew && ANew) ||
(B && A && !BNew && !ANew);
bool cwRot = (!B && !A && !BNew && ANew) ||
(!B && A && BNew && ANew) ||
(B && !A && !BNew && !ANew) ||
(B && A && BNew && !ANew);
if (rotPlusOneNew || (impossibleState && rotPlusOnePrev))
rotation += 2;
if (rotMinOneNew || (impossibleState && rotMinOnePrev))
rotation -= 2;
if (rotation < minimum)
rotation = minimum;
if (rotation > maximum)
rotation = maximum;
bool acwRot = (!B && !A && BNew && !ANew) ||
(!B && A && !BNew && !ANew) ||
(B && !A && BNew && ANew) ||
(B && A && !BNew && ANew);
bool impossible = (!B && !A && BNew && ANew) ||
(!B && A && BNew && !ANew) ||
(B && !A && !BNew && ANew) ||
(B && A && !BNew && !ANew);
if (cwRot) {
if (previousRotation == CW && fullstep) {
rotationInternal++;
} else if (previousRotation == ACW) {
previousRotation = NONE;
} else {
previousRotation = CW;
}
} else if (acwRot) {
if (previousRotation == ACW && fullstep) {
rotationInternal--;
} else if (previousRotation == CW) {
previousRotation = NONE;
} else {
previousRotation = ACW;
}
} else if (impossible) {
if (fullstep) {
switch (previousRotation) {
case NONE: // Step skipped and no previous direction
break;
case CW:
rotationInternal++;
break;
case ACW:
rotationInternal--;
break;
}
}
}
A = ANew;
B = BNew;
if (!impossibleState) {
rotPlusOnePrev = rotPlusOneNew;
rotMinOnePrev = rotMinOneNew;
}
if (rotationInternal < minimum)
rotationInternal = minimum;
if (rotationInternal > maximum)
rotationInternal = maximum;
rotation = rotationInternal;
}