Encoder controller - Githubissues

aindustriosa / RustyBugA

Firmware for the MightyBugA line follower done in Rust programming language

MIT License

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Encoder controller #32

Open rafacouto opened 5 months ago

rafacouto commented 5 months ago

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

rafacouto commented 5 months ago

Encoder controller featured on PR #38

https://github.com/aindustriosa/RustyBugA/assets/969061/f0487cd7-add1-4f71-a9ce-c97e63340aed