Add hall sensor tick counters for wheel odometry - #599
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Port hall sensor tick counting from hoverboard-robotics-master branch. Each DMA ISR cycle, the hall sensor state is decoded via a lookup table and a direction is determined from the position transition. Counters odom_l and odom_r wrap at 9000 ticks (10 full wheel revolutions). The counters are exposed in the serial feedback struct as wheelR_cnt and wheelL_cnt and included in the checksum for both USART2 and USART3. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
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Thanks for your nice contribution @anttix ! |
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OoOoooOoo I love it as I really wanted to push odometry to ardupilot from hoverboard hack |
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Port hall sensor tick counting from hoverboard-robotics-master branch. Each DMA ISR cycle, the hall sensor state is decoded via a lookup table and a direction is determined from the position transition. Counters odom_l and odom_r wrap at 9000 ticks (10 full wheel revolutions).
The counters are exposed in the serial feedback struct as wheelR_cnt and wheelL_cnt and included in the checksum for both USART2 and USART3.
Testing done