Part 1 should work, unable to test it. position() always gives 0 even when i turn so speed has the same problem

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

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

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;
 }

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;