Setti inn allar skrár frá Project 3 og bætti við overlay í samræmi við controlloerinn og pin out.

include/rotary_encoder_driver.h

@@ -0,0 +1,49 @@
+#ifndef ROTARY_ENCODER_DRIVER_H
+#define ROTARY_ENCODER_DRIVER_H
+
+#include <stdint.h>
+
+#include "digital_in.h"
+#include "timer_usec.h"
+
+class RotaryEncoderDriver {
+public:
+    static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
+    static constexpr float COUNTS_PER_REV = 1050.0f;
+
+private:
+    static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
+
+    volatile int32_t count;
+    volatile int16_t delta;
+    volatile bool speed_ready;
+
+    volatile int32_t history[HIST_LEN];
+    volatile uint8_t hist_idx;
+
+    Digital_in eA;
+    Digital_in eB;
+
+    Timer_usec timer;
+
+public:
+    RotaryEncoderDriver();
+
+    void begin();
+
+    void update();
+
+    int32_t position();
+
+    void update_delta();
+
+    float count_per_sec();
+
+    float rpm();
+
+    bool new_speed_available();
+
+    void reset_speed_measurement();
+
+};
+#endif