added text to code and changed counts per revolution

Project_2_Speed_Controller/Part_1_Motor_Speed/src/encoder.cpp

@@ -27,19 +27,21 @@ void Encoder::init()
 
     led.set_lo();
 
-    previousC1 = c1.is_hi();
-    count = 0;
-
     activeEncoder = this;
 
+    // Clear any pending PORTB pin-change interrupt
+    PCIFR |= (1 << PCIF0);
+
     // Enable pin-change interrupts for PORTB 
     PCICR |= (1 << PCIE0);
 
-    // Enable interrupt specifically for PB0 / D8 / C1
+    // Enable interrupt specifically for PB3 / D8 / C1 
     PCMSK0 |= (1 << PCINT0);
 
-    // Clear any pending PORTB pin-change interrupt
+
-    PCIFR |= (1 << PCIF0);
+    //capture baseline
+    previousC1 = c1.is_hi();
+    count = 0;
 
     // Enable global interrupts
     sei();
@@ -94,8 +96,8 @@ int Encoder::speed()
     uint32_t currentTime = micros(); //gives arduino microseconds since program started running
 
     //from spec sheet we get 1400 counts per revolution from driver 
-    // or 700 from red beard?? 
+    // or from assignment 1: 2100
-    int rpm = ((currentCount-pastCount)*6e7)/((currentTime-pastTime)*1400);  // we turn counts to rotations by dividing by 1400 and microsecond to minutes by multiplying with 60 and 10^6 
+    int rpm = ((currentCount-pastCount)*6e7)/((currentTime-pastTime)*2100);  // we turn counts to rotations by dividing by 1400 and microsecond to minutes by multiplying with 60 and 10^6 
 
     pastTime = currentTime;
     pastCount = currentCount;

Project_2_Speed_Controller/Part_1_Motor_Speed/src/main.cpp

@@ -4,8 +4,8 @@
 int main()
 {
     init();
-
+    //C1pin, C2pin, led pin
-    Encoder encoder(0, 1, 5);
+    Encoder encoder(0, 1, 5); //d8 d9
 
     encoder.init();
 
@@ -13,8 +13,8 @@ int main()
 
     while (1)
     {
-        Serial.println(encoder.position());
+        //Serial.println(encoder.position());
-        //Serial.println(encoder.speed());
+        Serial.println(encoder.speed());
         delay(100);
     }