Added invert encoder functionality

MissouriMRDT · May 17, 2019 · ddd4417 · ddd4417
1 parent 76e4f5d
commit ddd4417
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/RoveUsDigiMa3Pwm.cpp b/RoveUsDigiMa3Pwm.cpp
@@ -13,13 +13,15 @@
 void  RoveUsDigiMa3Pwm::attach( uint8_t  pin, int  priority, //////////////////////
                                               bool auto_recalibrate,
                                               int  offset_millidegrees ,
+                                              bool invert,
                                               int  read_decipercent_at_0_dgrees, 
                                               int  read_decipercent_at_360_degrees )
 { this->PwmRead.attach(                  pin,      priority ); 
   this->AUTO_RECALIBRATE               = auto_recalibrate;
   this->OFFSET_MILLIDEGREES            = offset_millidegrees;
   this->READ_DECIPECENT_AT_0_DEGREES   = read_decipercent_at_0_dgrees;
-  this->READ_DECIPECENT_AT_360_DEGREES = read_decipercent_at_360_degrees; }
+  this->READ_DECIPECENT_AT_360_DEGREES = read_decipercent_at_360_degrees;
+  this->INVERT_READING                 = invert; }
 
 int RoveUsDigiMa3Pwm::readMillidegrees() ////////////////////////////////////////////////////////////////////////////
 {          int  duty_decipercent = this->PwmRead.readDutyDecipercent();
@@ -34,9 +36,13 @@ int RoveUsDigiMa3Pwm::readMillidegrees() ///////////////////////////////////////
   int angle_millidegrees = map( duty_decipercent, 
                                 this->READ_DECIPECENT_AT_0_DEGREES, this->READ_DECIPECENT_AT_360_DEGREES, 0, 360000 )
                               + this->OFFSET_MILLIDEGREES;
+
+  if      ( angle_millidegrees >= 360000 ){ angle_millidegrees = angle_millidegrees%360000; }
+  else if      ( angle_millidegrees <= 0 ){ angle_millidegrees = 360000 - abs(angle_millidegrees); }
+
+  if      (this->INVERT_READING)  { angle_millidegrees = 360000 - angle_millidegrees;}
+
 
-  if      ( angle_millidegrees < 0 ){ angle_millidegrees += 360; }
-  else if ( angle_millidegrees > 0 ){ angle_millidegrees -= 360; }
   return    angle_millidegrees;
 }
 

diff --git a/RoveUsDigiMa3Pwm.h b/RoveUsDigiMa3Pwm.h
@@ -15,6 +15,7 @@ class RoveUsDigiMa3Pwm /////////////////////////////////////////////////////
   void  attach( uint8_t pin, int  priority                        =     7, 
                              bool auto_recalibrate                = false,
                              int  offset_millidegrees             =     0, 
+                             bool invert                          = false,
                              int  read_decipercent_at_0_dgrees    =     0, 
                              int  read_decipercent_at_360_degrees =  1000 );
   void  start();
@@ -33,6 +34,8 @@ class RoveUsDigiMa3Pwm /////////////////////////////////////////////////////
   int  READ_DECIPECENT_AT_360_DEGREES;
   int  OFFSET_MILLIDEGREES;
   bool AUTO_RECALIBRATE;
+  bool INVERT_READING;
+
 };
 
 class RoveUsDigiMa3PwmWireBreaks ///////////////////////////////////////