ino/contact_printer/ContactPrinter.cpp

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

ino/contact_printer/ContactPrinter.h

@@ -2,14 +2,13 @@
 #define CONTACT_PRINTER
 
 #include <Arduino.h>
-#include "DriveMotor.h"
+#include "EncoderMotor.h"
 
 class ContactPrinter {           
 
 	private:
 
-	//use default drive motor pins
-	DriveMotor drive_motor;
+	EncoderMotor drive_motor;
 
 	const uint16_t serial_delay = 5;
 	const uint16_t baud = 115200;
@@ -27,8 +26,6 @@ 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/DriveMotor.cpp

@@ -1,45 +0,0 @@
-#include "DriveMotor.h"
-
-DriveMotor::DriveMotor () {
-
-};
-
-DriveMotor::DriveMotor (uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin) {
-	enable_pin = e_pin;
-	forward_pin = f_pin;
-	backward_pin = b_pin;
-	encoder_a_pin = ea_pin;
-	encoder_b_pin = eb_pin;
-};
-
-void DriveMotor::Setup () {
-	pinMode(enable_pin, OUTPUT);
-	pinMode(forward_pin, OUTPUT);
-	pinMode(backward_pin, OUTPUT);
-
-	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
-	ledcAttachPin(enable_pin, pwm_channel);
-	ledcWrite(pwm_channel, pwm_duty_cycle);
-
-	digitalWrite(forward_pin, LOW);
-	digitalWrite(backward_pin, LOW);
-}
-
-void DriveMotor::Start() {
-	ledcWrite(pwm_channel, pwm_duty_cycle);
-	digitalWrite(forward_pin, HIGH);
-	digitalWrite(backward_pin, LOW);
-}
-void DriveMotor::Stop() {
-	pwm_duty_cycle = 0;
-	digitalWrite(forward_pin, LOW);
-	digitalWrite(backward_pin, LOW);
-	ledcWrite(pwm_channel, pwm_duty_cycle);
-}
-void DriveMotor::SetSpeed() {
-	pwm_duty_cycle = 255;
-}
-
-void DriveMotor::Loop () {
-	//monitor speed
-}

ino/contact_printer/EncoderMotor.cpp

@@ -0,0 +1,30 @@
+#include "EncoderMotor.h"
+
+EncoderMotor::EncoderMotor () {
+
+};
+
+EncoderMotor::EncoderMotor (uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin) {
+	enable_pin = e_pin;
+	forward_pin = f_pin;
+	backward_pin = b_pin;
+	encoder_a_pin = ea_pin;
+	encoder_b_pin = eb_pin;
+};
+
+void EncoderMotor::Setup () {
+	pinMode(enable_pin, OUTPUT);
+	pinMode(forward_pin, OUTPUT);
+	pinMode(backward_pin, OUTPUT);
+
+	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
+	ledcAttachPin(enable_pin, pwm_channel);
+	ledcWrite(pwm_channel, pwm_duty_cycle);
+
+	digitalWrite(forward_pin, LOW);
+	digitalWrite(backward_pin, LOW);
+}
+
+void EncoderMotor::Loop () {
+	
+}

ino/contact_printer/EncoderMotor.h

@@ -1,9 +1,9 @@
-#ifndef DRIVE_MOTOR
-#define DRIVE_MOTOR
+#ifndef ENCODER_MOTOR
+#define ENCODER_MOTOR
 
 #include <Arduino.h>
 
-class DriveMotor {           
+class EncoderMotor {           
 
 	private:
 
@@ -14,22 +14,16 @@ class DriveMotor {
 	volatile uint8_t encoder_a_pin = 27;
 	volatile uint8_t encoder_b_pin = 26;
 
-	volatile uint8_t pwm_duty_cycle = 0;
+	volatile uint8_t pwm_duty_cycle = 255;
 
 	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:
 
-	DriveMotor();
-	DriveMotor(uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin);
+	EncoderMotor();
+	EncoderMotor(uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin);
 	void Setup();
 	void Loop();
 	void Start();