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STM32HWEncoder setCurrentAngle handle full rotations #98

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STM32HWEncoder setCurrentAngle handle full rotations #98

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a76e05e
setCurrentAngle handle full rotations
dekutree64 Jul 16, 2026
4aed129
Added check for rounding errors
dekutree64 Jul 16, 2026
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11 changes: 9 additions & 2 deletions src/encoders/stm32hwencoder/STM32HWEncoder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,14 @@ float STM32HWEncoder::getSensorAngle() {
Set the current angle using CNT register
*/
void STM32HWEncoder::setCurrentAngle(float set_angle) {
encoder_handle.Instance->CNT = set_angle * cpr / _2PI;
angle_prev = _normalizeAngle(set_angle);
full_rotations = (int32_t)((set_angle - angle_prev) / _2PI);
float check_rounding_error = full_rotations * _2PI + angle_prev;
if (check_rounding_error > set_angle + _PI)
full_rotations -= 1;
else if (check_rounding_error < set_angle - _PI)
full_rotations += 1;
encoder_handle.Instance->CNT = (int32_t)(angle_prev * cpr / _2PI);
}
/*
Modify encoder count directly
Expand Down Expand Up @@ -75,7 +82,7 @@ void STM32HWEncoder::init() {

TIM_Encoder_InitTypeDef encoder_config;

encoder_config.EncoderMode = encoder_mode;
encoder_config.EncoderMode = encoder_mode;;

encoder_config.IC1Polarity = TIM_ICPOLARITY_RISING;
encoder_config.IC1Selection = TIM_ICSELECTION_DIRECTTI;
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