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fix encoder

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This commit is contained in:
Alessandro Mauri 2026-05-11 02:12:25 +02:00
parent 3c50fcd695
commit b395e77117
1 changed files with 4 additions and 2 deletions
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6
fw/main.c
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@ -1,4 +1,3 @@
#include "fr_math/FR_math.h"
#include <ch32fun.h> #include <ch32fun.h>
#include <stdint.h> #include <stdint.h>
#include <stdio.h> #include <stdio.h>
@ -88,6 +87,7 @@ void update_encoder(void)
{ {
// 0 = 00, 1 = 01, 2 = 10, 3 = 11 // 0 = 00, 1 = 01, 2 = 10, 3 = 11
static uint8_t last_state = 0; static uint8_t last_state = 0;
static int8_t count;
// Lookup table: state_table[last_state][current_state] // Lookup table: state_table[last_state][current_state]
// 0 = invalid move or bounce (ignore) // 0 = invalid move or bounce (ignore)
// 1 = valid forward step // 1 = valid forward step
@ -111,7 +111,9 @@ void update_encoder(void)
uint8_t current_state = (a << 1) | b; uint8_t current_state = (a << 1) | b;
// Find the movement direction based on transition // Find the movement direction based on transition
encoder += state_table[last_state][current_state]; count += state_table[last_state][current_state];
if (count == 4) encoder++, count = 0;
if (count == -4) encoder--, count = 0;
// Save current state for the next interrupt // Save current state for the next interrupt
last_state = current_state; last_state = current_state;