feat: update to espp v0.8.0

main/main.cpp

@@ -30,36 +30,16 @@ extern "C" void app_main(void) {
 
   // make the velocity filter
   static constexpr float core_update_period = 0.001f; // seconds
-  static constexpr float filter_cutoff_hz = 4.0f;
-  espp::ButterworthFilter<2, espp::BiquadFilterDf2> bwfilter({
-      .normalized_cutoff_frequency = 2.0f * filter_cutoff_hz * 0.01 // core_update_period
-  });
-  espp::LowpassFilter lpfilter(
-      {.normalized_cutoff_frequency = 2.0f * filter_cutoff_hz * 0.01, // core_update_period,
-       .q_factor = 1.0f});
-  auto filter_fn = [&bwfilter, &lpfilter](float raw) -> float {
-    // return bwfilter.update(raw);
-    // return lpfilter.update(raw);
-
-    // NOTE: right now there seems to be something wrong with the filter
-    //       configuration, so we don't filter at all. Either 1) the filtering
-    //       is not actually removing the noise we want, 2) it is adding too
-    //       much delay for the PID to compensate for, or 3) there is a bug in
-    //       the update function which doesn't take previous state into
-    //       account?
-    return raw;
-  };
 
   // now make the mt6701 which decodes the data
-  std::shared_ptr<espp::Mt6701> mt6701 = std::make_shared<espp::Mt6701>(
-      espp::Mt6701::Config{.write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1,
-                                              std::placeholders::_2, std::placeholders::_3),
-                           .read_register = std::bind(&espp::I2c::read_at_register, &i2c,
-                                                      std::placeholders::_1, std::placeholders::_2,
-                                                      std::placeholders::_3, std::placeholders::_4),
-                           .velocity_filter = filter_fn,
-                           .update_period = std::chrono::duration<float>(core_update_period),
-                           .log_level = espp::Logger::Verbosity::WARN});
+  using Encoder = espp::Mt6701<>;
+  std::shared_ptr<Encoder> mt6701 = std::make_shared<Encoder>(
+      Encoder::Config{.write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1,
+                                         std::placeholders::_2, std::placeholders::_3),
+                      .read = std::bind(&espp::I2c::read, &i2c, std::placeholders::_1,
+                                        std::placeholders::_2, std::placeholders::_3),
+                      .update_period = std::chrono::duration<float>(core_update_period),
+                      .log_level = espp::Logger::Verbosity::WARN});
 
   // now make the bldc driver
   std::shared_ptr<espp::BldcDriver> driver = std::make_shared<espp::BldcDriver>(
@@ -78,7 +58,7 @@ extern "C" void app_main(void) {
                                .log_level = espp::Logger::Verbosity::WARN});
 
   // now make the bldc motor
-  using BldcMotor = espp::BldcMotor<espp::BldcDriver, espp::Mt6701>;
+  using BldcMotor = espp::BldcMotor<espp::BldcDriver, Encoder>;
   auto motor = BldcMotor(BldcMotor::Config{
       // measured by setting it into ANGLE_OPENLOOP and then counting how many
       // spots you feel when rotating it.