PID tuned for 2S battery

2023-03-20 20:59:23 -03:00
parent 7e69147bc4
commit d37e9c5aea
12 changed files with 275 additions and 65 deletions
--- a/Code/STM32/Core/Src/Components/Encoder.hpp
+++ b/Code/STM32/Core/Src/Components/Encoder.hpp
@@ -0,0 +1,27 @@
+/*
+ * Encoder.hpp
+ *
+ *  Created on: Mar 17, 2023
+ *      Author: Gabriel
+ */
+
+#ifndef SRC_COMPONENTS_ENCODER_HPP_
+#define SRC_COMPONENTS_ENCODER_HPP_
+
+#include "main.h"
+
+class Encoder {
+public:
+	Encoder(__IO uint32_t* cnt, __IO uint32_t* arr, uint32_t countsPerRevolution);
+	virtual ~Encoder();
+	uint32_t getCount();
+	int16_t getDelta();
+	uint32_t getCountsPerRevolution();
+private:
+	__IO uint32_t* cnt;
+	__IO uint32_t* arr;
+	uint32_t lastCount = 0;
+	uint32_t countsPerRevolution = 0;
+};
+
+#endif /* SRC_COMPONENTS_ENCODER_HPP_ */