void ShaftEncoder::boot(){
baseTime = millis();
counter = 0;
rotation = 0;
timeOfRotation = INFINITY;
state = analogToDigital(analogRead(bbId));
init = true;
}
float DigitalOut::put(float value) {
// Make sure value is in [0, 1].
value = constrain(value, 0, 1);
// Set ON status depending on value: invert if mode is SINK.
_isOn = analogToDigital(value);
// Write to output.
digitalWrite(_pin, _isOn ^ (_mode == SOURCE) ? LOW : HIGH);
// Return value.
return value;
}
void ShaftEncoder::read(){
int s = analogToDigital(analogRead(bbId));
if(s == LOW && state == HIGH){
counter++;
if(counter % spr == 0){
rotation++;
}
timeOfRotation = millis()-baseTime;
baseTime = millis();
init = false;
}
state = s;
}