rotary works so far

TeensyPwm.cpp

@@ -10,11 +10,7 @@
 
 
 
-<<<<<<< local
-volatile float U_des = 12.0;
-=======
 volatile float u_des = 14.0;
->>>>>>> other
 
 
 
@@ -54,8 +50,10 @@ void cycle() {
 }
 
 void setup() {
+	Serial.begin(115200);
 	lcd.begin(LCD_COLS, LCD_ROWS);
 	lcd.print("Teensy SMPS");
+	Serial.println("Teensy SMPS");
 	pinMode(PWM_PIN, OUTPUT);
 	analogWrite(PWM_PIN, PWM_MIN);
 	analogWriteFrequency(PWM_PIN, PWM_FREQ);
@@ -70,6 +68,7 @@ void setup() {
 	}
 	pinMode(ADC_IN, INPUT);
 
+	rotaryInit();
 }
 
 void loop() {
@@ -82,13 +81,17 @@ void loop() {
 		if (cycleCnt == 60) {
 			maxCycleDelay = 0;
 		}
-
+		Serial.println("Tick");
 
 
 		int rotaryCount = getAndResetRotaryCount();
+		Serial.println(rotaryCount);
 
 		noInterrupts();
 		u_des += rotaryCount;
+		if (u_des < 0) {
+			u_des = 0;
+		}
 		float my_u_curr = u_curr;
 		uint16_t my_newPwm = newPwm;
 		uint32_t my_cycleDelay = cycleDelay;

hardware.h

@@ -35,9 +35,9 @@ const uint8_t LCD_D7 = 7;
 const uint8_t LCD_ROWS = 2;
 const uint8_t LCD_COLS = 16;
 
-const uint8_t ROTARY_A = ;
+const uint8_t ROTARY_A = 19;
-const uint8_t ROTARY_B = ;
+const uint8_t ROTARY_B = 18;
-const uint8_t SWITCH = ;
+const uint8_t SWITCH = 20;
 
 
 

rotary.cpp

@@ -1,3 +1,4 @@
+#include <Arduino.h>
 #include <stdint.h>
 #include "hardware.h"
 #include "rotary.h"
@@ -9,14 +10,33 @@ volatile bool switchState = false;
 volatile unsigned long lastEvent = 0;
 
 
+int myDigitalRead(int a) {
+  int r = 0;
+  for (uint32_t i = 0; i < DEBOUNCING_REPEAT; i++) {
+    if (digitalRead(a) == HIGH) {
+      r++;
+    } else {
+      r--;
+    }
+  }
+  int res = -1;
+  if (r >= (DEBOUNCING_REPEAT / 2)) {
+    res = 1;
+  } else if (r <= -1 * (DEBOUNCING_REPEAT / 2)) {
+    res = 0;
+  }
+  return res;
+}
+
+
 void rotary_a_interrupt() {
   uint32_t currentEvent = millis();
 
   if ((lastEvent == 0) || (lastEvent + DEBOUNCING_DEAD_TIME < currentEvent)) {
     lastEvent = currentEvent;
 
-    int a = digitalRead(ROTARY_A);
+    int a = myDigitalRead(ROTARY_A);
-    int b = digitalRead(ROTARY_B);
+    int b = myDigitalRead(ROTARY_B);
 
     if (((a != -1) && (b != -1))) {
       if (a == b) {
@@ -34,8 +54,8 @@ void rotary_b_interrupt() {
   if ((lastEvent == 0) || (lastEvent + DEBOUNCING_DEAD_TIME < currentEvent)) {
     lastEvent = currentEvent;
 
-    int a = digitalRead(ROTARY_A);
+    int a = myDigitalRead(ROTARY_A);
-    int b = digitalRead(ROTARY_B);
+    int b = myDigitalRead(ROTARY_B);
 
     if (((a != -1) && (b != -1))) {
       if (a == b) {

rotary.h

@@ -3,7 +3,7 @@
 
 
 const uint32_t DEBOUNCING_DEAD_TIME = 100;
-
+const uint32_t DEBOUNCING_REPEAT = 100;
 
 void rotaryInit();