/*
* Prints the current encoder values
*/
cmd_status
dsc_get_values(cli_ctx *ctx, const char *args) {
char buff[36];
char *value;
int32_t ra, dec;
ra = ctx->ra->read();
dec = ctx->dec->read();
value = EncoderValue(ra, true);
sprintf(buff, "%s\t", value);
value = EncoderValue(dec, true);
strcat(buff, value);
ctx->serial->printf("%s\r\n", buff);
return E_CMD_OK;
}
void ENC_PROCESSING (WHEEL_ENCODER_STRUCT *S)
{
S->temp[1] = S->temp[0];
S->temp[0] = EncoderValue(S->timer);
S->diff = S->temp[0] - S->temp[1];
if (S->diff> 10000) S->diff=(S->temp[0]-0xFFFF)+(S->temp[1]);//overflow while counting down
if (S->diff<-10000) S->diff=(0xFFFF-S->temp[1])+(S->temp[0]);//overflow while counting up
S->velo_fb = (float)S->diff*(f_s)*60.0f/28056.0f; // RPM = (pulse/28056/dt)*60 // encoder 334 pulses per round*4*21 (gear21)= 28056
S->posi_fb = S->temp[0]/28056.0f; //round
}
bool AnalogEncoder::ProcessIntSelf() {
int value = EncoderValue();
EncoderState state = pPinInfo->state;
if(state == LOW_STATE && value>highThreshold) {
pPinInfo->state = HIGH_STATE;
counts++;
return true;
}
if(state== HIGH_STATE && value<lowThreshold) {
pPinInfo->state = LOW_STATE;
counts++;
return true;
}
return false;
}
