First pass at a momentum function

encoder.cpp

@@ -1,23 +1,30 @@
 #include <Arduino.h>
 #include <stdint.h>
 
+#include "encoder.h"
 #include "ubitx.h"//Pin definitions
 
+//Normal encoder state
+uint8_t prev_enc = 0;
+int8_t enc_count = 0;
 
-/*
+//Momentum encoder state
- * SmittyHalibut's encoder handling, using interrupts. Should be quicker, smoother handling.
+int16_t enc_count_periodic = 0;
- */
+int8_t momentum[3] = {0};
-int8_t enc_count;
+static const uint16_t CALLBACK_PERIOD_MS = 200;
-uint8_t prev_enc;
+static const uint8_t MOMENTUM_MULTIPLIER = 1;
 
-uint8_t enc_state (void) {
+uint8_t enc_state (void)
-    return (digitalRead(ENC_A)?1:0 + digitalRead(ENC_B)?2:0);
+{
+  return (digitalRead(ENC_A)?1:0 + digitalRead(ENC_B)?2:0);
 }
 
 /*
+ * SmittyHalibut's encoder handling, using interrupts. Should be quicker, smoother handling.
  * The Interrupt Service Routine for Pin Change Interrupts on A0-A5.
  */
-ISR (PCINT1_vect) {
+ISR (PCINT1_vect)
+{
   uint8_t cur_enc = enc_state();
   if (prev_enc == cur_enc) {
     //Serial.println("unnecessary ISR");
@@ -32,7 +39,8 @@ ISR (PCINT1_vect) {
       (prev_enc == 3 && cur_enc == 1) || 
       (prev_enc == 1 && cur_enc == 0))
   {
-    enc_count-=1;
+    enc_count -= 1;
+    enc_count_periodic -= 1;
   }
   //these transitions point to the enccoder being rotated clockwise
   else if ((prev_enc == 0 && cur_enc == 1) || 
@@ -40,7 +48,8 @@ ISR (PCINT1_vect) {
       (prev_enc == 3 && cur_enc == 2) || 
       (prev_enc == 2 && cur_enc == 0))
   {
-    enc_count+=1;
+    enc_count += 1;
+    enc_count_periodic += 1;
   }
   else {
     // A change to two states, we can't tell whether it was forward or backward, so we skip it.
@@ -69,10 +78,48 @@ void enc_setup(void)
   // Setup Pin Change Interrupts for the encoder inputs
   pci_setup(ENC_A);
   pci_setup(ENC_B);
+
+  //Set up timer interrupt for momentum
+  TCCR1A = 0;//"normal" mode
+  TCCR1B = 3;//clock divider of 64
+  TCNT1  = 0;//start counting at 0
+  OCR1A  = F_CPU * CALLBACK_PERIOD_MS / 1000 / 64;//set target number
+  TIMSK1 |= (1 << OCIE1A);//enable interrupt
+}
+
+ISR(TIMER1_COMPA_vect)
+{
+  momentum[2] = momentum[1];
+  momentum[1] = momentum[0];
+  momentum[0] = enc_count_periodic;
+  enc_count_periodic = 0;
+}
+
+int8_t min_momentum_mag()
+{
+  int8_t min_mag = 127;
+  for(uint8_t i = 0; i < sizeof(momentum)/sizeof(momentum[0]); ++i){
+    int8_t mag = abs(momentum[i]);
+    if(mag < min_mag){
+      min_mag = mag;
+    }
+  }
+  return min_mag;
 }
 
 int enc_read(void) {
-  int8_t ret = enc_count;
+  if(0 != enc_count){
-  enc_count = 0;
+    int16_t ret = enc_count;
-  return int(ret);
+    int8_t s = (enc_count < 0) ? -1 : 1;
+    int8_t momentum_mag = min_momentum_mag();
+    if(momentum_mag >= 20){
+      ret += s*40;
+    }
+    else if(momentum_mag >= 5){
+      ret += s*(20 + momentum_mag)/(20 - momentum_mag);
+    }
+    enc_count = 0;
+    return ret;
+  }
+  return 0;
 }

encoder.h

@@ -1,4 +1,4 @@
 #pragma once
 
 void enc_setup(void);
-int enc_read(void);
+int enc_read(void);