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Encoder controller #32

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rafacouto opened this issue Apr 10, 2024 · 1 comment

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rafacouto commented Apr 10, 2024 •

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Implement the encoder drivers for MightyBugA board.

Driver HAL interface:

steps() -> usize returns the absolute step count
delta() -> isize returns the delta of the step count since the last time this function was called
reset() resets the step count to zero

Implementation notes:

For STM32, it should be use the encoder interface mode (see reference manual 15.3.12)
Right encoder: PB6 (TIM4CH1) and PB7 (TIM4CH2) --> Tim4NoRemap
Left encoder: PA15 (TIM2CH1) and PB3 (TIM2CH2) --> Tim2PartialRemap1

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punkto assigned rafacouto

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Feature/encoder controller #38

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rafacouto commented May 2, 2024

Encoder controller featured on PR #38

mightybuga_encoders.mp4

punkto mentioned this issue

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