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Added basically all servo logic with encoders. Need to test.

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This commit is contained in:
pulipakaa24
2025-12-31 15:44:48 -06:00
parent b43c918c57
commit 90e967c6f8
15 changed files with 3205 additions and 222 deletions
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109
include/encoder.cpp
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@@ -2,6 +2,7 @@
#include "driver/gpio.h"
#include "esp_log.h"
#include "soc/gpio_struct.h"
#include "servo.hpp"
static const char *TAG = "ENCODER";
@@ -13,47 +14,53 @@ Encoder::Encoder(gpio_num_t pinA, gpio_num_t pinB)
// Static ISR - receives Encoder instance via arg
void IRAM_ATTR Encoder::isr_handler(void* arg)
{
Encoder* encoder = static_cast<Encoder*>(arg);
// Read GPIO levels directly from hardware
uint32_t gpio_levels = GPIO.in.val;
uint8_t current_a = (gpio_levels >> encoder->pin_a) & 0x1;
uint8_t current_b = (gpio_levels >> encoder->pin_b) & 0x1;
Encoder* encoder = static_cast<Encoder*>(arg);
// Read GPIO levels directly from hardware
uint32_t gpio_levels = GPIO.in.val;
uint8_t current_a = (gpio_levels >> encoder->pin_a) & 0x1;
uint8_t current_b = (gpio_levels >> encoder->pin_b) & 0x1;
// Quadrature decoding logic
if (current_a != encoder->last_state_a) {
if (!current_a) {
if (current_b) encoder->last_count_base++;
else encoder->last_count_base--;
}
else {
if (current_b) encoder->last_count_base--;
else encoder->last_count_base++;
}
// Quadrature decoding logic
if (current_a != encoder->last_state_a) {
if (!current_a) {
if (current_b) encoder->last_count_base++;
else encoder->last_count_base--;
}
else if (current_b != encoder->last_state_b) {
if (!current_b) {
if (current_a) encoder->last_count_base--;
else encoder->last_count_base++;
}
else {
if (current_a) encoder->last_count_base++;
else encoder->last_count_base--;
}
else {
if (current_b) encoder->last_count_base--;
else encoder->last_count_base++;
}
// Accumulate to full detent count
if (encoder->last_count_base > 3) {
encoder->count += 1;
encoder->last_count_base -= 4;
}
else if (current_b != encoder->last_state_b) {
if (!current_b) {
if (current_a) encoder->last_count_base--;
else encoder->last_count_base++;
}
else if (encoder->last_count_base < 0) {
encoder->count -= 1;
encoder->last_count_base += 4;
else {
if (current_a) encoder->last_count_base++;
else encoder->last_count_base--;
}
encoder->last_state_a = current_a;
encoder->last_state_b = current_b;
}
// Accumulate to full detent count
if (encoder->last_count_base > 3) {
encoder->count += 1;
encoder->last_count_base -= 4;
if (calibListen) servoCalibListen();
if (encoder->feedWDog) esp_timer_restart(encoder->watchdog_handle, 500000);
if (encoder->wandListen) servoWandListen();
}
else if (encoder->last_count_base < 0) {
encoder->count -= 1;
encoder->last_count_base += 4;
if (calibListen) servoCalibListen();
if (encoder->feedWDog) esp_timer_restart(encoder->watchdog_handle, 500000);
if (encoder->wandListen) servoWandListen();
}
encoder->last_state_a = current_a;
encoder->last_state_b = current_b;
}
void Encoder::init()
@@ -67,7 +74,7 @@ void Encoder::init()
gpio_config(&io_conf);
// Install ISR service if not already installed
gpio_install_isr_service(ESP_INTR_FLAG_IRAM);
gpio_install_isr_service(ESP_INTR_FLAG_LEVEL1);
// Attach ISR with THIS instance as argument
gpio_isr_handler_add(pin_a, Encoder::isr_handler, this);
@@ -81,4 +88,32 @@ void Encoder::deinit()
gpio_isr_handler_remove(pin_a);
gpio_isr_handler_remove(pin_b);
ESP_LOGI(TAG, "Encoder deinitialized");
}
void Encoder::setupWatchdog() {
if (watchdog_handle == NULL) {
const esp_timer_create_args_t enc_watchdog_args = {
.callback = &watchdogCallback,
.dispatch_method = ESP_TIMER_ISR,
.name = "encoder_wdt",
};
ESP_ERROR_CHECK(esp_timer_create(&enc_watchdog_args, &watchdog_handle));
}
ESP_ERROR_CHECK(esp_timer_start_once(watchdog_handle, 500000));
feedWDog = true;
}
void Encoder::pauseWatchdog() {
feedWDog = false;
esp_timer_stop(watchdog_handle);
}
Encoder::~Encoder() {
if (watchdog_handle != NULL) {
esp_timer_stop(watchdog_handle);
esp_timer_delete(watchdog_handle);
watchdog_handle = NULL;
}
}