void controlpanel_encoder() {
int ticks = 0;
while (true) {
char ch = controlpanel_promptChar("Encoders");
switch (ch) {
case 'p':
ticks = encoder_get(LEFT_ENCODER);
printf_P(PSTR("L Ticks: %d "), ticks);
ticks = encoder_get(RIGHT_ENCODER);
printf_P(PSTR("R Ticks: %d\n"), ticks);
break;
case 'r':
encoder_reset(LEFT_ENCODER);
encoder_reset(RIGHT_ENCODER);
break;
case 's':
motorcontrol_setEnabled(true);
printf_P(PSTR("L RPS: %f, R RPS: %f\n"), motorcontrol_getRPS(MOTOR_LEFT), motorcontrol_getRPS(MOTOR_RIGHT));
break;
case 'q':
return;
case '?':
static const char msg[] PROGMEM =
"Encoder menu:\n"
" p - position (ticks)\n"
" r - Reset counter\n"
" s - RPS of wheels\n"
" q - Back\n";
puts_P(msg);
break;
default:
puts_P(unknown_str);
break;
}
}
}
int main(void)
{
setup_hw();
static uint8_t button_press_just_happened = 0;
static uint8_t not_the_first_time_pressed = 0;
#ifdef USE_PWM
uint8_t lamp_state = 0;
uint8_t OCR1B_tmp = 0;
#endif
while(1) {
int8_t counts = encoder_get(ENC_COUNTS);
int16_t velocity = encoder_get(ENC_VELOCITY);
if( counts > 0 ) {
#ifdef AUTO_COARSE_FINE
if( velocity > COARSE_FINE_THRESHOLD ) {
soft_uart_send(PSTR("+"),4);
} else {
soft_uart_send(PSTR("+"),1);
}
#else
soft_uart_send(PSTR("+"),1);
#endif
#ifdef USE_PWM
if(OCR1B < 255) {
OCR1B++;
} else {
#ifdef SHOW_PWM_MAX
LED_on; // signal that the maximum has been reached
delay(200);
LED_off;
LED_idle;
#endif
}
lamp_state = 1;
#endif
}
if( counts < 0 ) {
#ifdef AUTO_COARSE_FINE
if( velocity < -COARSE_FINE_THRESHOLD ) {
soft_uart_send(PSTR("-"),4);
} else {
soft_uart_send(PSTR("-"),1);
}
#else
soft_uart_send(PSTR("-"),1);
#endif
#ifdef USE_PWM
if(OCR1B > 0) {
OCR1B--;
} else {
lamp_state = 0;
}
#endif
}
if( encoder_get(BUTTON_WAS_PRESSED) ) {
soft_uart_send(PSTR("/"),1);
button_press_just_happened = 1;
#ifdef USE_PWM
if( lamp_state == 1 ) {
OCR1B_tmp = OCR1B; // save PWM value
lamp_state = 0; // lamp is off
OCR1B = 0; // turn PWM off
} else {
OCR1B = OCR1B_tmp; // restore PWM value
lamp_state = 1; // lamp is on
}
#endif
}
if( encoder_get(BUTTON_WAS_RELEASED) ) {
soft_uart_send(PSTR("\\"),1);
not_the_first_time_pressed = 0;
}
if( encoder_get(BUTTON_STATE) && ( (button_press_just_happened == 1) || (not_the_first_time_pressed == 1) ) ) {
// "¯" is an unicode character! It will be sent as 2 bytes ( 0xC2 0xAF )
soft_uart_send(PSTR("¯"),1);
button_press_just_happened = 0;
not_the_first_time_pressed = 1;
delay(50);
} else {
//soft_uart_send(PSTR("_"),1);
}
}
return 0;
}
