MeEncoderOnBoard.h

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#ifndef ME_Encoder_OnBoard_H
#define ME_Encoder_OnBoard_H
 
#include <Arduino.h>
#include <stdbool.h>
#include <avr/interrupt.h>
 
#define DIRECT_MODE       0x00
#define PID_MODE          0x01
#define PWM_MODE          0x02
 
#define MOTION_WITH_POS        0x00
#define MOTION_WITHOUT_POS     0x01
 
#define PWM_MIN_OFFSET                 25
#define ENCODER_POS_DEADBAND           10
#define DECELERATION_DISTANCE_PITCH    6 
 
typedef struct
{
  float P, I, D;
  float Setpoint, Output, Integral, differential, last_error;
} PID_internal;
 
typedef struct
{
  uint8_t mode;
  uint8_t motionState;
 
  int16_t pulseEncoder;
  int16_t currentPwm;
  int16_t targetPwm;
  int16_t previousPwm;
 
  float currentSpeed;
  float targetSpeed;
  float previousSpeed;
  float ratio;
 
  long currentPos;
  long targetPos;
  long previousPos;
  long pulsePos;
 
  PID_internal  PID_speed;
  PID_internal  PID_pos;
}Me_Encoder_type;
 
typedef struct
{
  uint8_t port_A;   //INT
  uint8_t port_B;   //DIR
  uint8_t port_PWM; //PWM
  uint8_t port_H1;
  uint8_t port_H2;
} Encoder_port_type;
 
extern Encoder_port_type encoder_Port[6];  // encoder_Port[0] is nonsense
typedef void (*cb)(int16_t,int16_t); 
 
class MeEncoderOnBoard 
{
public:
  MeEncoderOnBoard();
 
  MeEncoderOnBoard(int slot);
 
  void reset(uint8_t slot);
 
  uint8_t getSlotNum(void) const;
 
  uint8_t getIntNum(void) const;
  
  uint8_t getPortA(void) const;
 
  uint8_t getPortB(void) const;
 
  long getPulsePos(void) const;
 
  void setPulsePos(long pulse_pos);
 
  void pulsePosPlus(void);
  
  void pulsePosMinus(void);
 
  void setCurrentSpeed(float speed);
 
  float getCurrentSpeed(void) const;
 
  int16_t getCurPwm(void) const;
 
  void setTarPWM(int16_t pwm_value);
 
  void setMotorPwm(int16_t pwm);
  
  void updateSpeed(void);
 
  void updateCurPos(void);
 
  long getCurPos(void) const;
 
  void runSpeed(float speed);
 
  void setSpeed(float speed);
 
  void move(long position,float speed = 100,int16_t extId=0,cb callback=NULL);
 
  void moveTo(long position,float speed = 100,int16_t extId=0,cb callback=NULL);
  
  long distanceToGo() const;
 
  void setSpeedPid(float p,float i,float d);
 
  void setPosPid(float p,float i,float d);
 
  void setPulse(int16_t pulseValue);
 
  void setRatio(float RatioValue);
 
  void setMotionMode(int16_t motionMode);
 
  int16_t pidPositionToPwm(void);
 
  int16_t speedWithoutPos(void);
 
  void encoderMove(void);
 
  void pwmMove(void);
 
  boolean isTarPosReached(void) const;
 
  void loop(void);
 
private:
   volatile Me_Encoder_type encode_structure;
   boolean _Lock_flag;
   boolean _Dir_lock_flag;
   boolean _Callback_flag;
   uint8_t _extId;
   uint8_t _Port_A;
   uint8_t _Port_B;
   uint8_t _Port_PWM;
   uint8_t _Port_H1;
   uint8_t _Port_H2;
   uint8_t _IntNum;
   uint8_t _Slot;
   int16_t _Encoder_output;
   long _Measurement_speed_time;
   long _Encoder_move_time;
   bool _enabled;
   cb _callback;
};
#endif