Fill out EncoderMotor methods and add variables to be used to calculate position + speed and used for PID. TODO: rename class because it is not a generic EncoderMotor class, should instead be DriveMotor.

ino/contact_printer/ContactPrinter.cpp

@@ -106,5 +106,6 @@ bool ContactPrinter::IsRunning () {
 }
 
 void ContactPrinter::Loop () {
+	timer = millis();
 	drive_motor.Loop();
 }

ino/contact_printer/ContactPrinter.h

@@ -26,6 +26,8 @@ class ContactPrinter {
 	const uint8_t takeup_stock_pwm_channel = 2;
 	const uint8_t pwm_resolution = 8;
 
+	volatile long timer = 0;
+
 	volatile float drive_speed = 1.0;  //calculated rpm
 	volatile float takeup_speed = 1.0; //estimated rpm
 

ino/contact_printer/EncoderMotor.cpp

@@ -25,6 +25,21 @@ void EncoderMotor::Setup () {
 	digitalWrite(backward_pin, LOW);
 }
 
-void EncoderMotor::Loop () {
-	
+void EncoderMotor::Start() {
+	ledcWrite(pwm_channel, pwm_duty_cycle);
+	digitalWrite(forward_pin, HIGH);
+	digitalWrite(backward_pin, LOW);
+}
+void EncoderMotor::Stop() {
+	pwm_duty_cycle = 0;
+	digitalWrite(forward_pin, LOW);
+	digitalWrite(backward_pin, LOW);
+	ledcWrite(pwm_channel, pwm_duty_cycle);
+}
+void EncoderMotor::SetSpeed() {
+	pwm_duty_cycle = 255;
+}
+
+void EncoderMotor::Loop () {
+	//monitor speed
 }

ino/contact_printer/EncoderMotor.h

@@ -14,12 +14,18 @@ class EncoderMotor {
 	volatile uint8_t encoder_a_pin = 27;
 	volatile uint8_t encoder_b_pin = 26;
 
-	volatile uint8_t pwm_duty_cycle = 255;
+	volatile uint8_t pwm_duty_cycle = 0;
 
 	const uint32_t pwm_frequency = 30000;
 	const uint8_t pwm_channel = 0;
 	const uint8_t pwm_resolution = 8;
 
+	const uint8_t ppr = 11;
+	const float ratio = 187.0 / 3.0;
+	const uint32_t maxPulses = (int) round((float) ppr * ratio);
+	const uint8_t speed = 255;
+	const uint8_t framesPerRotation = 18;
+
 	public:
 
 	EncoderMotor();