added encoder again

Multi-line description of commit,
feel free to be detailed.

Signed-off-by: Abel Tim <git@abeltim.com>

6 files changed, 393 insertions, 0 deletions

diff --git a/code/debug/motors/enc-pwm-3-motor/.gitignore b/code/debug/motors/enc-pwm-3-motor/.gitignore
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index 0000000..03f4a3c
--- /dev/null
+++ b/code/debug/motors/enc-pwm-3-motor/.gitignore
@@ -0,0 +1 @@
+.pio
diff --git a/code/debug/motors/enc-pwm-3-motor/include/README b/code/debug/motors/enc-pwm-3-motor/include/README
new file mode 100644
index 0000000..49819c0
--- /dev/null
+++ b/code/debug/motors/enc-pwm-3-motor/include/README
@@ -0,0 +1,37 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/code/debug/motors/enc-pwm-3-motor/lib/README b/code/debug/motors/enc-pwm-3-motor/lib/README
new file mode 100644
index 0000000..9379397
--- /dev/null
+++ b/code/debug/motors/enc-pwm-3-motor/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/code/debug/motors/enc-pwm-3-motor/platformio.ini b/code/debug/motors/enc-pwm-3-motor/platformio.ini
new file mode 100644
index 0000000..a13d034
--- /dev/null
+++ b/code/debug/motors/enc-pwm-3-motor/platformio.ini
@@ -0,0 +1,14 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:teensy41]
+platform = teensy
+board = teensy41
+framework = arduino
diff --git a/code/debug/motors/enc-pwm-3-motor/src/main.cpp b/code/debug/motors/enc-pwm-3-motor/src/main.cpp
new file mode 100644
index 0000000..4e3cf37
--- /dev/null
+++ b/code/debug/motors/enc-pwm-3-motor/src/main.cpp
@@ -0,0 +1,284 @@
+//motor: https://www.pololu.com/product/4861
+//motor driver: https://www.pololu.com/product/2997
+
+//Create the timers
+IntervalTimer pwm_timer;
+IntervalTimer enc_timer;
+
+//define the pins
+//If the motors are spinning incorectly, change pins not the drive function.
+int led = 13;
+
+int m1enA = 6;
+int m1enB = 5;
+int m1pwm1 = 4;
+int m1pwm2 = 3;
+int m1encoA = 32;
+int m1encoB = 31;
+
+int m2enA = 12;
+int m2enB = 11;
+int m2pwm1 = 9;
+int m2pwm2 = 10;
+int m2encoA = 30;
+int m2encoB = 29;
+
+int m3enA = 27;
+int m3enB = 26;
+int m3pwm1 = 24;
+int m3pwm2 = 25;
+int m3encoA = 28;
+int m3encoB = 23;
+
+//PWM variables
+int pwmacc = 100; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
+int PWMval1 = 0;  //value of the PWM1, means you can enter value from 0 to the value of pwmacc 
+int PWMval2 = 0;  //same but for the second one
+int PWMval3 = 0;  //same but for the thirth one
+
+//encoder variables
+const int refreshrate = 50; //refresh rate of the encoder
+volatile long oneENCcount = 0; //the amount of pulses from motor one encoder 
+volatile long twoENCcount = 0; //idem, but motor two
+volatile long threeENCcount = 0; //kɛlɔ
+
+double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
+double TWOrpm = 0.00; //mismo
+double THREErpm = 0.00; //адилхан
+
+
+
+void setup() {
+  pinMode(m1enA, OUTPUT);
+  pinMode(m1enB, OUTPUT);
+  pinMode(m1pwm1, OUTPUT);
+  pinMode(m1pwm2, OUTPUT);
+  
+  pinMode(m2enA, OUTPUT);
+  pinMode(m2enB, OUTPUT);
+  pinMode(m2pwm1, OUTPUT);
+  pinMode(m2pwm2, OUTPUT);
+  
+  pinMode(m3enA, OUTPUT);
+  pinMode(m3enB, OUTPUT);
+  pinMode(m3pwm1, OUTPUT);
+  pinMode(m3pwm2, OUTPUT);
+
+  pwm_timer.begin(updatePWM, refreshrate); //speed at wich PWM is updated PWM 
+  enc_timer.begin(enc_refr, 50);  //refresh rate of the encoder
+
+  attachInterrupt(digitalPinToInterrupt(m1encoA), AoneIRS, CHANGE); //calls void AoneIRS if there is a change of the stare of m1encoA
+  attachInterrupt(digitalPinToInterrupt(m1encoB), BoneIRS, CHANGE); //ditto
+  attachInterrupt(digitalPinToInterrupt(m2encoA), AtwoIRS, CHANGE); //hali
+  attachInterrupt(digitalPinToInterrupt(m2encoB), BtwoIRS, CHANGE); //একই
+  attachInterrupt(digitalPinToInterrupt(m3encoA), AthreeIRS, CHANGE); //ߊ߬ ߓߍ߮ ߓߋ߫ ߞߟߋ߫
+  attachInterrupt(digitalPinToInterrupt(m3encoB), AthreeIRS, CHANGE); //To samo
+
+  Serial.begin(9600);
+  Serial.print("start");
+  
+}
+
+void updatePWM() {
+  //PWM one
+  //if the entered valvue is less the zero set it to zero, because lower that zero is not posible
+  if (PWMval1 < 0) {    
+    PWMval1 = 0;
+  }
+  //if the enterd value is higher than the maximum posible value, set it to max.
+  if (PWMval1 > pwmacc) {
+    PWMval1 = pwmacc;
+  }
+  //check if the counter has passed the PWM value, and turn of the motor based on that.
+  if (counter1 < PWMval1) {
+    digitalWrite(m1enA, HIGH);
+  } else {
+    digitalWrite(m1enA, LOW);
+  }
+  counter1++; 
+
+  if (counter1 >= pwmacc) {
+    counter1 = 0;
+  }
+
+  //PWM two
+  static int counter2 = 0;
+  if (PWMval2 < 0) {
+    PWMval2 = 0;
+  }
+  if (PWMval2 > pwmacc) {
+    PWMval2 = pwmacc;
+  }
+
+  if (counter2 < PWMval2) {
+    digitalWrite(m2enA, HIGH);
+  } else {
+    digitalWrite(m2enA, LOW);
+  }
+
+  counter2++;
+  if (counter2 >= pwmacc) {
+    counter2 = 0;
+  }
+
+  //PWM three
+  int static counter3 = 0;
+  if (PWMval3 < 0) {
+    PWMval3 = 0;
+  }
+  if (PWMval3 > pwmacc) {
+    PWMval3 = pwmacc;
+  }
+
+  if (counter3 < PWMval3) {
+    digitalWrite(m3enA, HIGH);
+  } else {
+    digitalWrite(m3enA, LOW);
+  }
+
+  counter3++;
+  if (counter3 >= pwmacc) {
+    counter3 = 0;
+  }
+}
+
+void AoneIRS(){
+  oneENCcount++ //adds one to the count
+}
+void BoneIRS(){
+  oneENCcount++ //dieselbe
+}
+void AtwoIRS(){
+  twoENCcount++ //même
+}
+void BtwoIRS(){
+  twoENCcount++ //samme
+}
+void AthreeIRS(){
+  threeENCcount++ //aynı
+}
+void BthreeIRS(){
+  threeENCcount++ //такой же
+}
+
+void enc_refr(){
+  //calculate RPM. It gets updated 48 times per rotation.
+  ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate)
+  TWOrpm = (twoENCcount/48.00) * (60000000.00 / refreshrate)
+  THREErpm = (threeENCcount/48.00) * (60000000.00 / refreshrate)
+  //reset the counting to zero for next cycle.
+  oneENCcount = 0;
+  twoENCcount = 0;
+  threeENCcount = 0;
+
+}
+void drive(int speed, int direction){
+ //
+ //!!!
+ // If the motors are spinning incorectly, change pins not the drive function.
+ //!!!
+ //
+ // 0 = motor off
+ // + = motor spinning forwards
+ // - = motor spinning backwards
+ //
+ // Motor 1 is the left one.
+ // Motor 2 is the one in the back.
+ // Motor 3 is the right one.
+ //
+ // Direction............|.Motor 1.|.Motor 2.|.Motor 3.
+ // 0deg(forward)........|....-....|....0....|....+....
+ // 60deg................|....0....|....-....|....+....    
+ // 120deg...............|....+....|....-....|....0....
+ // 180 deg (backward)...|....+....|....0....|....-.... 
+ // 240 deg..............|....0....|....+....|....-....
+ // 300 deg..............|....-....|....+....|....0....
+ //
+
+  PWMval1 = speed;
+  PWMval2 = speed;
+  PWMval3 = speed;
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m2enB, LOW);
+  digitalWrite(m3enB, LOW);
+  Serial.println("debug2");
+  Serial.println(direction);
+  if(direction>330 || direction<=30){
+    //0 deg
+    Serial.println("0 deg");
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, HIGH);
+
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, LOW);
+
+    digitalWrite(m3pwm1, HIGH);
+    digitalWrite(m3pwm2, LOW); 
+  }else if (direction>30 && direction <= 90){
+    //60 deg
+    Serial.println("60deg");
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, HIGH);
+    
+    digitalWrite(m3pwm1, HIGH);
+    digitalWrite(m3pwm2, LOW);
+  }else if (direction>90 && direction <= 150){
+    //120 deg
+    Serial.println("120 deg");
+    digitalWrite(m1pwm1, HIGH);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, HIGH);
+
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, LOW);
+  }else if (direction > 150 && direction <= 210) {
+    //180 degrees
+    Serial.println("on 180");
+    digitalWrite(m1pwm1, HIGH);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, LOW);
+    
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, HIGH);
+  }else if (direction > 210 && direction <= 270) {
+    //240 degrees
+    Serial.println("240deg");
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, HIGH);
+    digitalWrite(m2pwm2, LOW);
+
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, HIGH);
+  }else if (direction > 270 && direction <= 330) {
+    //300 degrees
+    Serial.println("300deg");
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, HIGH);
+
+    digitalWrite(m2pwm1, HIGH);
+    digitalWrite(m2pwm2, LOW);
+
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, LOW);
+  }else{
+    Serial.println("how?");  
+  }
+}
+
+//the loop routine runs over and over again forever:
+void loop() {
+  drive(50, 0); //speed value between 0-100
+  Serial.println("Motor one is at: "+ ONErpm + " RPM.");
+  Serial.println("Motor two is at: "+ TWOrpm + " RPM.");
+  Serial.println("Motor three is at: "+ THREErpm + " RPM.");
+  delay(1500);
+}
diff --git a/code/debug/motors/enc-pwm-3-motor/test/README b/code/debug/motors/enc-pwm-3-motor/test/README
new file mode 100644
index 0000000..9b1e87b
--- /dev/null
+++ b/code/debug/motors/enc-pwm-3-motor/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html