From 96fc0a64de7322d42dbedf49c1710e551057fca8 Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Sat, 27 Jul 2024 09:40:56 +0200
Subject: [PATCH] Separate relative tick count from encoder
---
controller/src/encoders.rs | 28 ++++++++++++++++++----------
controller/src/logic/mod.rs | 10 ++++++++--
2 files changed, 26 insertions(+), 12 deletions(-)
diff --git a/controller/src/encoders.rs b/controller/src/encoders.rs
index c07b58a..0b14f59 100644
--- a/controller/src/encoders.rs
+++ b/controller/src/encoders.rs
@@ -7,8 +7,6 @@ use embassy_stm32::{
pub struct Encoders<'a> {
left: Qei<'a, TIM3>,
right: Qei<'a, TIM2>,
- count_left: u16,
- count_right: u16,
}
pub struct EncoderValue {
@@ -16,6 +14,11 @@ pub struct EncoderValue {
direction: Direction,
}
+pub struct Relative {
+ count_left: u16,
+ count_right: u16,
+}
+
impl core::fmt::Debug for EncoderValue {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
write!(
@@ -36,12 +39,7 @@ impl Encoders<'_> {
let left = Qei::new(tim3, QeiPin::new_ch1(pa6), QeiPin::new_ch2(pa7));
let right = Qei::new(tim2, QeiPin::new_ch1(pa0), QeiPin::new_ch2(pa1));
pac::TIM2.ccer().modify(|w| w.set_ccp(1, true));
- Self {
- left,
- right,
- count_left: 0,
- count_right: 0,
- }
+ Self { left, right }
}
pub fn read(&self) -> (EncoderValue, EncoderValue) {
@@ -56,9 +54,19 @@ impl Encoders<'_> {
},
)
}
+}
+
+impl Relative {
+ pub fn new(encoders: &Encoders<'_>) -> Self {
+ let (count_left, count_right) = (encoders.left.count(), encoders.right.count());
+ Self {
+ count_left,
+ count_right,
+ }
+ }
- pub fn ticks(&mut self) -> (i16, i16) {
- let (left, right) = (self.left.count(), self.right.count());
+ pub fn ticks(&mut self, encoders: &Encoders<'_>) -> (i16, i16) {
+ let (left, right) = (encoders.left.count(), encoders.right.count());
(
ticks_since(&mut self.count_left, left),
ticks_since(&mut self.count_right, right),
diff --git a/controller/src/logic/mod.rs b/controller/src/logic/mod.rs
index 5c6d2fb..7d544e4 100644
--- a/controller/src/logic/mod.rs
+++ b/controller/src/logic/mod.rs
@@ -1,4 +1,7 @@
-use crate::{encoders::Encoders, tb6612fng::Tb6612fng};
+use crate::{
+ encoders::{Encoders, Relative},
+ tb6612fng::Tb6612fng,
+};
use embassy_executor::Spawner;
use embassy_stm32::{peripherals::WWDG, time::hz};
use futures::FutureExt;
@@ -14,13 +17,16 @@ pub const I2C_ADDRESS: u8 = 0x57;
struct State {
_i2c: I2C2,
encoders: Encoders<'static>,
+ tick_count: Relative,
}
impl State {
fn new(i2c2: I2C2, encoders: Encoders<'static>) -> Self {
+ let tick_count = Relative::new(&encoders);
Self {
_i2c: i2c2,
encoders,
+ tick_count,
}
}
}
@@ -144,7 +150,7 @@ fn process_command(
response.push(watchdog::get_shutdown_timeout()).unwrap();
}
[CMD_ENCODER_TICKS] => {
- let (left, right) = state.encoders.ticks();
+ let (left, right) = state.tick_count.ticks(&state.encoders);
let (left, right) = (left.to_le_bytes(), right.to_le_bytes());
response.push(left[0]).unwrap();
response.push(left[1]).unwrap();
--
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