Encoder.hpp

[詳解]

//
//    通信経由ロータリーエンコーダー
//
//    Copyright (c) 2022 udonrobo
//
 
#pragma once
 
#include <Udon/Stl/EnableSTL.hpp>
#include <algorithm>
 
#include <Udon/Algorithm/DeltaTime.hpp>
#include <Udon/Com/Message/Encoder.hpp>
#include <Udon/Traits/HasMemberFunction.hpp>
#include <Udon/Traits/ReaderWriterTraits.hpp>
#include <Udon/Utility/Printf.hpp>
#include <Udon/Types/Direction.hpp>
 
namespace Udon
{

    template <template <typename> class Reader>
    class EncoderBy
    {
        static_assert(Traits::IsReader<Reader>::value, "Reader is not reader");
 
        using ReaderType = Reader<Message::Encoder>;
 
        ReaderType reader;
 
        Udon::DeltaTime deltaTime;
 
        Udon::Direction direction;
 
        int32_t count{};
        int32_t deltaCount{};
        int32_t offsetCount{};
        double speed{};
 
    public:
        EncoderBy(ReaderType&& reader, Udon::Direction direction = Udon::Direction::Forward)
            : reader(std::move(reader))
            , deltaTime()
            , direction(direction)
        {
        }

        void update()
        {
            Udon::Traits::MaybeInvokeUpdate(reader);
 
            const auto prev = getCount();
 
            if (const auto countOpt = reader.getMessage())
            {
                count = countOpt->count * Udon::DirectionToSign(direction);
            }
 
            const auto curr = getCount();
 
            deltaCount = curr - prev;
 
            speed = deltaCount / deltaTime.update().getDeltaTimeS();
        }

        void setOffset(int32_t value = 0)
        {
            offsetCount = count - value;
        }

        int32_t getCount() const
        {
            return count - offsetCount;
        }

        int32_t getDeltaCount() const
        {
            return deltaCount;
        }

        double getSpeed() const
        {
            return speed;
        }
 
#ifdef ARDUINO
        void show() const
        {
            Serial.print(getCount());
            Serial.print('\t');
        }
#endif
    };
 
}    // namespace Udon