Nýtt branch og kóðar/files fyrir part 1

src/rotary_encoder_driver.cpp

@@ -12,17 +12,20 @@ RotaryEncoderDriver::RotaryEncoderDriver()
     , led(5)
     , eA(2)
     , eB(5)
+    , delta(0)
 {
-    for (uint8_t i = 0; i < HIST_LEN; i++) {
+    for (uint8_t i = 0; i < HIST_LEN; i++) 
+    {
         history[i] = 0;
     }
 }
 
 
-void RotaryEncoderDriver::begin() {
+void RotaryEncoderDriver::begin() 
+{
     driver = this;
 
-    led.init();
+    //led.init();
     eA.init();
     eB.init();
 
@@ -32,12 +35,14 @@ void RotaryEncoderDriver::begin() {
     timer.init(4000);
 }
 
-void RotaryEncoderDriver::update() {
+void RotaryEncoderDriver::update() 
+{
     count += eB.is_hi() ? 1 : -1;
-    led.set_hi();
+    //led.set_hi();
 }
 
-int RotaryEncoderDriver::position() {
+int RotaryEncoderDriver::position() 
+{
 
     uint8_t oldSREG = SREG;
 
@@ -47,27 +52,31 @@ int RotaryEncoderDriver::position() {
 
     SREG = oldSREG;
 
-    led.set_lo();
+    //led.set_lo();
 
     return local_count;
 } 
 
-void RotaryEncoderDriver::update_delta() {
+void RotaryEncoderDriver::update_delta() 
+{
 
     int16_t oldest = history[hist_idx];
+
     history[hist_idx] = count;
+
     hist_idx = (hist_idx + 1) % HIST_LEN;
 
-    delta = count - oldest;   // breyting yfir HIST_LEN * Ts (40 ms) glugga
+    delta = count - oldest;   // breyting yfir HIST_LEN * Ts (16 ms) glugga
 
     prev_count = count;
 
     speed_ready = true;
 
-    led.set_lo();
+    //led.set_lo();
 }
 
-float RotaryEncoderDriver::count_per_sec() {
+float RotaryEncoderDriver::count_per_sec() 
+{
 
     uint8_t oldSREG = SREG;
 
@@ -118,18 +127,22 @@ void RotaryEncoderDriver::reset_speed_measurement()
     delta = 0;
     speed_ready = false;
 
-    for (uint8_t i = 0; i < HIST_LEN; i++) {
+    for (uint8_t i = 0; i < HIST_LEN; i++) 
+    {
         history[i] = count;
     }
+
     hist_idx = 0;
 
     SREG = oldSREG;
 }
 
-ISR(INT0_vect) {
+ISR(INT0_vect) 
+{
     driver->update();
 }
-ISR(TIMER1_COMPA_vect) {
+ISR(TIMER1_COMPA_vect) 
+{
     driver->update_delta();    
 }