added buttons to hone in the offset

source_code/Teensy35/src/encoder.cpp

@@ -20,7 +20,17 @@ int Zoffset = 0;
 // This is the difference in encoder tics from the Z index to 
 // the electrical encoder zero (which is found by powering the 
 // AB block and waiting for the motor to settle)
-int hard_coded_offset = -1042;
+int hard_coded_offset = -307;
+
+
+//Invert position to invert position add 341 to any offset
+
+
+// hand calibration (done by buttons)
+int button_offset = 0;
+
+//how much of an effect the button press has
+int button_offset_increment = 5;
 
 // how long in microsec (us) to delay between phases while calibrating
 // the wheel
@@ -29,6 +39,10 @@ int calibration_delay = 1000;
 // Timer setup (for speed calc)
 IntervalTimer speed_timer;
 
+// buttons (for hand tuneing)
+int ButtonA = 11;
+int ButtonB = 12;
+
 //forward declarations
 void isr_index(void);
 int wrap_wheel_tics(int in_position);
@@ -39,6 +53,8 @@ int get_raw_wheel_position_ticks(void);
 int get_elec_rev_position_ticks(int mechanical_position);
 int get_phase_number(int elec_position);
 void print_speed_ISR(void);
+void buttonA_ISR(void);
+void buttonB_ISR(void);
 
 
 
@@ -68,7 +84,38 @@ void encoder_setup(void)
     //setup the speed timer to run every 1 sec
     speed_timer.begin(print_speed_ISR, 1000000);
 
-    delay(5000); //sit tight for a bit
+    delay(1000); //sit tight for a bit
+
+    //setup interupts to allow button presses
+    pinMode(ButtonA, INPUT_PULLUP);
+    attachInterrupt(digitalPinToInterrupt(ButtonA), buttonA_ISR, RISING);
+    pinMode(ButtonB, INPUT_PULLUP);
+    attachInterrupt(digitalPinToInterrupt(ButtonB), buttonB_ISR, RISING);
+}
+
+void buttonA_ISR(){
+    static unsigned long last_interrupt_time = 0;
+    unsigned long interrupt_time = millis();
+    if (interrupt_time - last_interrupt_time > 125) 
+    {
+        button_offset += button_offset_increment;
+        Serial.print("+ Button Offset: ");
+        Serial.println(button_offset);
+    }
+    last_interrupt_time = interrupt_time;
+}
+
+
+void buttonB_ISR(){
+    static unsigned long last_interrupt_time = 0;
+    unsigned long interrupt_time = millis();
+    if (interrupt_time - last_interrupt_time > 125) 
+    {
+        button_offset -= button_offset_increment;
+        Serial.print("- Button Offset: ");
+        Serial.println(button_offset);
+    }
+    last_interrupt_time = interrupt_time;
 }
 
 // Interrupt that is used to print out speed every so often
@@ -116,7 +163,11 @@ int get_Zoffset(void)
 int get_wheel_position_ticks(void)
 {
     int raw_position = encoder.calcPosn();
-    return wrap_wheel_tics(raw_position - Zoffset - hard_coded_offset);
+    cli();
+    int my_position = raw_position - Zoffset - hard_coded_offset - button_offset;
+    sei();
+    int wrapped_position = wrap_wheel_tics(my_position);
+    return wrapped_position;
 }
 
 

source_code/Teensy35/src/motor_ctrl.cpp

@@ -89,6 +89,8 @@ void motor_setup(void) {
 
     //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() {