Setup Pot read interval timer

source_code/Teensy35/src/encoder.cpp

@@ -65,7 +65,7 @@ void encoder_setup(void)
 
     //xPosn.zeroFTM(); //This zeros the counter
 
-    //setup the speed timer to run ever 1 sec
+    //setup the speed timer to run every 1 sec
     speed_timer.begin(print_speed_ISR, 1000000);
 
     delay(5000); //sit tight for a bit

source_code/Teensy35/src/motor_ctrl.cpp

@@ -32,10 +32,15 @@ float PERIOD = 1/((float) FREQ);
 // this helps in calculatations of the lower limit of pwm
 float PERIOD_OVER_255 = PERIOD/255.0;
 
+//Interrupt for reading potentiometer 0 to determine 
+//when to change the throttle
+IntervalTimer pot_0_timer;
 
+int POT_0_VALUE = 0;
 
 
 
+void pot_0_speed_ISR();
 void turn_all_off();
 int one_to_scaleFactor(int x);
 void set_phase(int high1, int high2, int high3, int low1, int low2, int low3);
@@ -80,6 +85,14 @@ void motor_setup(void) {
     //setup led
     pinMode(led, OUTPUT);
     digitalWrite(led, HIGH);
+    pinMode(12, OUTPUT);
+
+    //setup the pot_0_timer to run every thirty times a second
+    pot_0_timer.begin(pot_0_speed_ISR, 33333);
+}
+
+void pot_0_speed_ISR() {
+    POT_0_VALUE = get_pot_0_scaled(SCALE_FACTOR, PERIOD_OVER_255);
 }
 
 void turn_all_off() {
@@ -177,7 +190,7 @@ void set_phase_float(float f1, float f2, float f3)
     // NOTE: The scale factor of is the max value we want out of
     // the potentiometer
     //digitalWrite(led, HIGH);// start a timer
-    int potval = get_pot_0_scaled(SCALE_FACTOR, PERIOD_OVER_255);
+    int potval = POT_0_VALUE;
     //digitalWrite(led, LOW);// stop a timer
 
 
@@ -240,6 +253,9 @@ void motor_butt_control_precalculated(void)
 
     while(1)
     {
+        //used to check the speed of this function
+        digitalWrite(12, HIGH);
+
         // get the current encoder tics (this does the math to offset)
         int position = get_wheel_position_ticks();
         // get position within current electrical revolution
@@ -250,6 +266,8 @@ void motor_butt_control_precalculated(void)
 
         set_phase_float(f1,f2,f3);
 
+        //used to check the speed of this function
+        digitalWrite(12, LOW);
     }
 }
 

source_code/Teensy35/src/utils.cpp

@@ -43,12 +43,12 @@ int get_pot_0_scaled(int scaleFactor, float period_over_255)
     volatile float raw_potval = analogRead(A0);
     float potval = raw_potval;
 
-    if ((potval - UPWARD_ROC_PREV_VALUE) > UPWARD_ROC_LIMITER) {
-        potval = UPWARD_ROC_PREV_VALUE + UPWARD_ROC_LIMITER;
-    }
-    else if ((potval - UPWARD_ROC_PREV_VALUE) < UPWARD_ROC_LIMITER) {
-        potval = UPWARD_ROC_PREV_VALUE - UPWARD_ROC_LIMITER;
-    }
+    // if ((potval - UPWARD_ROC_PREV_VALUE) > UPWARD_ROC_LIMITER) {
+    //     potval = UPWARD_ROC_PREV_VALUE + UPWARD_ROC_LIMITER;
+    // }
+    // else if ((potval - UPWARD_ROC_PREV_VALUE) < UPWARD_ROC_LIMITER) {
+    //     potval = UPWARD_ROC_PREV_VALUE - UPWARD_ROC_LIMITER;
+    // }
 
     UPWARD_ROC_PREV_VALUE = potval;
 
@@ -136,9 +136,6 @@ void debug_low_state_by_state(void)
     Serial.println("Hit space to call turn_all_off()");
     block_until_spacebar();
     turn_all_off();
-    Serial.println("Hit space to call setphase(1,0,0,0,0,0");
-    block_until_spacebar();
-    set_phase(1,0,0,0,0,0);
     Serial.println("Hit space to call setphase(0,0,0,0,0,0)");
     block_until_spacebar();
     set_phase(0,0,0,0,0,0);