Encoder.h

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#ifndef ENCODER_LIB_H
#define ENCODER_LIB_H
 
#include "Arduino.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
#include "../common/base_classes/Sensor.h"
 
 
enum Quadrature{
  ON, 
  OFF 
};
 
class Encoder: public Sensor{
 public:
    Encoder(int encA, int encB , float ppr, int index = 0);
 
    void init();
    void enableInterrupts(void (*doA)() = nullptr, void(*doB)() = nullptr, void(*doIndex)() = nullptr);
    
    //  Encoder interrupt callback functions
    void handleA();
    void handleB();
    void handleIndex();
    
    
    // pins A and B
    int pinA; 
    int pinB; 
    int index_pin; 
 
    // Encoder configuration
    Pullup pullup; 
    Quadrature quadrature;
    float cpr;
 
    // Abstract functions of the Sensor class implementation
    float getAngle() override;
    float getVelocity() override;
    int needsSearch() override;
 
  private:
    int hasIndex(); 
 
    volatile long pulse_counter;
    volatile long pulse_timestamp;
    volatile int A_active; 
    volatile int B_active; 
    volatile int I_active; 
    volatile bool index_found = false; 
 
    // velocity calculation variables
    float prev_Th, pulse_per_second;
    volatile long prev_pulse_counter, prev_timestamp_us;
};
 
 
#endif