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Variables and math have been added to output steps/microsecond, but the syntax is incorrect. An error shows up on compile with the Encoder library saying “Invalid use of member (varialbe_name) in static member function” for the variables I’ve added.
Replacement of last commit
Fix compilation errors
fixed link to github so that the proper repository is accessed when arduino checks for updates. Added the static type in front of the elapsed micros and rate variables
Updated stepRate() function for accuracy. Now accounts for out of phase encoder signals by always averaging the latest two readings. Fixed compile errors Added proper keywords so arduino recognizes functions
Negative movements now work on the opposite rate calculation of positive movements. When the encoder goes from 0-1 it has the same phase shift as going from 1-0. This means both should work on the same rate calculation Negative movements now calculate to negative rates
Part of changing the library name to EncoderMod
Converting library from Encoder to EncoderMod
examples now call EncoderMod.h instead of Encoder.h
the extrapolation is calculated with the velocity until a distance of 1 step offset from the actual is reached, at which point it will be the maximum
The step rate function now uses the extrapolate function to calculate velocity. previously the step rate would only be updated when steps were taken, therefore when the encoder stopped moving, it would always return the last recorded step rate. Now, the step rate will deteriorate towards if steps aren’t recorded
New step rate function now uses the last recorded step rate until the predicted position is more than one step away, then it uses a position/time calculation to calculate a new velocity assuming the position is 1 step away. A position/time calculation doesn’t work when the elapsed time is below a certain value because it introduces inaccuracy, so the last step rate value is used
If a rate timer is double counted (during a direction change) then the new additions will now set the unchanged timer back to 0, giving more accurate positions
Velocity extrapolated position
Position extrapolation is now based on an acceleration calculated using the last two step rate measurements. This gives a much smoother extrapolation line. The stepRate() function now extrapolates based on the amount of time since last step rate calculation, and the previous acceleration.
I only modified one line in EncoderMod.h to get it to compile. I renamed a couple instances of the word "Encoder" to the word "EncoderMod" so that the library shows up as EncoderMod in the Arduino IDE.
Fix a compilation error, rename the library to EncoderMod
I added a lot of comments about how and why things work. Its not fully commented yet, but the missing comments are mostly repeats of the first ones.
# Conflicts: # EncoderMod.h
…ition Acceleration extrapolated position
could be. However the interrupt is extremely tight
Velocity optimized
Delete unneeded variable.
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