From c0073a582042607f3031d14b130c636c8bf9f2b9 Mon Sep 17 00:00:00 2001
From: nokkvinetti <82093782+nokkvinetti@users.noreply.github.com>
Date: Thu, 10 Sep 2026 15:21:13 +0000
Subject: [PATCH] Part 1 should work, unable to test it. position() always
 gives 0 even when i turn so speed has the same problem

---
 .../Part_1_Polling/src/main.cpp               |  1 -
 .../Part_1_Motor_Speed/.gitignore             |  5 ++++
 .../Part_1_Motor_Speed/include/encoder.h      |  4 ++++
 .../Part_1_Motor_Speed/src/encoder.cpp        | 23 +++++++++++++++++++
 .../Part_1_Motor_Speed/src/main.cpp           |  2 ++
 5 files changed, 34 insertions(+), 1 deletion(-)
 create mode 100644 Project_2_Speed_Controller/Part_1_Motor_Speed/.gitignore

diff --git a/Project_1_Rotary_Encoder/Part_1_Polling/src/main.cpp b/Project_1_Rotary_Encoder/Part_1_Polling/src/main.cpp
index 474fd01..93c7295 100644
--- a/Project_1_Rotary_Encoder/Part_1_Polling/src/main.cpp
+++ b/Project_1_Rotary_Encoder/Part_1_Polling/src/main.cpp
@@ -13,4 +13,3 @@ int main()
 
     return 0;
 }
-""
\ No newline at end of file
diff --git a/Project_2_Speed_Controller/Part_1_Motor_Speed/.gitignore b/Project_2_Speed_Controller/Part_1_Motor_Speed/.gitignore
new file mode 100644
index 0000000..89cc49c
--- /dev/null
+++ b/Project_2_Speed_Controller/Part_1_Motor_Speed/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
diff --git a/Project_2_Speed_Controller/Part_1_Motor_Speed/include/encoder.h b/Project_2_Speed_Controller/Part_1_Motor_Speed/include/encoder.h
index 272d7ce..ea9307a 100644
--- a/Project_2_Speed_Controller/Part_1_Motor_Speed/include/encoder.h
+++ b/Project_2_Speed_Controller/Part_1_Motor_Speed/include/encoder.h
@@ -12,6 +12,7 @@ public:
     void init();
     void update();
     int position();
+    int speed();
 
 private:
     Digital_in c1;
@@ -20,6 +21,9 @@ private:
 
     bool previousC1;
     volatile int count;
+    int pastCount;
+    uint32_t pastTime;
+
 };
 
 #endif
\ No newline at end of file
diff --git a/Project_2_Speed_Controller/Part_1_Motor_Speed/src/encoder.cpp b/Project_2_Speed_Controller/Part_1_Motor_Speed/src/encoder.cpp
index 39f7c5a..373e7d3 100644
--- a/Project_2_Speed_Controller/Part_1_Motor_Speed/src/encoder.cpp
+++ b/Project_2_Speed_Controller/Part_1_Motor_Speed/src/encoder.cpp
@@ -1,4 +1,5 @@
 #include <encoder.h>
+#include <Arduino.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 
@@ -42,6 +43,11 @@ void Encoder::init()
 
     // Enable global interrupts
     sei();
+
+    // Set initial states for speed
+    pastCount = count;
+    pastTime = micros();
+
 }
 
 void Encoder::update()
@@ -78,4 +84,21 @@ int Encoder::position()
     SREG = oldSREG;
 
     return currentCount;
+}
+
+
+
+int Encoder::speed()
+{
+    int currentCount = position();
+    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?? 
+    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 
+
+    pastTime = currentTime;
+    pastCount = currentCount;
+
+    return rpm;
 }
\ No newline at end of file
diff --git a/Project_2_Speed_Controller/Part_1_Motor_Speed/src/main.cpp b/Project_2_Speed_Controller/Part_1_Motor_Speed/src/main.cpp
index 4df60e6..1c72869 100644
--- a/Project_2_Speed_Controller/Part_1_Motor_Speed/src/main.cpp
+++ b/Project_2_Speed_Controller/Part_1_Motor_Speed/src/main.cpp
@@ -14,6 +14,8 @@ int main()
     while (1)
     {
         Serial.println(encoder.position());
+        //Serial.println(encoder.speed());
+        delay(100);
     }
 
     return 0;