creating first draft for encoder class

src/StepperControl.h

@@ -12,6 +12,7 @@
 #include "CurrentState.h"
 #include "ParameterList.h"
 #include "StepperControlAxis.h"
+#include "StepperControlEncoder.h"
 #include "pins.h"
 #include "Config.h"
 #include <stdio.h>

src/StepperControlEncoder.cpp

@@ -0,0 +1,78 @@
+#include "StepperControlEncoder.h"
+
+StepperControlEncoder::StepperControlEncoder() {
+	//lastCalcLog	= 0;
+
+        pinChannelA     = 0;
+        pinChannelB     = 0;
+
+        position        = 0;
+}
+
+void StepperControlEncoder::test() {
+                Serial.print("R99 ");
+                Serial.print(position);
+                Serial.print("\n");
+}
+
+void StepperControlEncoder::loadPinNumbers(int channelA, int channelB) {
+	pinChannelA = channelA;
+	pinChannelB = channelB;
+
+	readChannels();
+	shiftChannels();
+}
+
+void StepperControlEncoder::setPosition(long newPosition) {
+	position = newPosition;
+}
+
+long StepperControlEncoder::currentPosition() {
+	return position;
+}
+
+/* Check the encoder channels for movement accoridng to thisspecification
+                    ________            ________
+Channel A          /        \          /        \
+             _____/          \________/          \________
+                         ________            ________
+Channel B               /        \          /        \
+             __________/          \________/          \____
+                                   __
+Channel I                         /  \
+             ____________________/    \___________________
+
+rotation ----------------------------------------------------->
+
+*/
+
+
+void StepperControlEncoder::readEncoder() {
+
+	// save the old values, read the new values
+	shiftChannels();
+	readChannels();
+
+	// and check for a position change
+	// no fancy code, just a few simple compares. sorry
+	if (prvValChannelA == true  && curValChannelB == true  && prvValChannelB == false && prvValChannelB == true ) {position++;}
+	if (prvValChannelA == true  && curValChannelB == false && prvValChannelB == true  && prvValChannelB == true ) {position++;}
+	if (prvValChannelA == false && curValChannelB == false && prvValChannelB == true  && prvValChannelB == false) {position++;}
+	if (prvValChannelA == false && curValChannelB == true  && prvValChannelB == false && prvValChannelB == false) {position++;}
+
+	if (prvValChannelA == false && curValChannelB == false && prvValChannelB == false && prvValChannelB == true ) {position--;}
+	if (prvValChannelA == false && curValChannelB == true  && prvValChannelB == true  && prvValChannelB == true ) {position--;}
+	if (prvValChannelA == true  && curValChannelB == true  && prvValChannelB == true  && prvValChannelB == false) {position--;}
+	if (prvValChannelA == true  && curValChannelB == false && prvValChannelB == false && prvValChannelB == false) {position--;}
+
+}
+
+void StepperControlEncoder::readChannels() {
+	curValChannelA = digitalRead(pinChannelA);
+	curValChannelB = digitalRead(pinChannelB);
+}
+
+void StepperControlEncoder::shiftChannels() {
+	prvValChannelA = curValChannelA;
+	prvValChannelB = curValChannelB;
+}

src/StepperControlEncoder.h

@@ -0,0 +1,53 @@
+/*
+ * StepperControlEncoder.h
+ *
+ *  Created on: 29 okt 2015
+ *      Author: Tim Evers
+ */
+
+#ifndef STEPPERCONTROLENCODER_H_
+#define STEPPERCONTROLENCODER_H_
+
+#include "Arduino.h"
+//#include "CurrentState.h"
+//#include "ParameterList.h"
+#include "pins.h"
+#include "Config.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+class StepperControlEncoder {
+
+public:
+
+	StepperControlEncoder();
+
+	void loadPinNumbers(int channelA, int channelB);
+
+	void setPosition(long newPosition);
+	long currentPosition();
+
+	void readEncoder();
+	void readChannels();
+	void shiftChannels();
+	void test();
+
+private:
+
+	// pin settings
+	int pinChannelA;
+	int pinChannelB;
+
+	// channels
+	bool prvValChannelA;
+	bool prvValChannelB;
+	bool curValChannelA;
+	bool curValChannelB;
+
+	// encoder
+	int position;
+
+};
+
+#endif /* STEPPERCONTROLENCODER_H_ */
+