Cleaned up, remover get_average_speed()

mappingbot/encoder.py

@@ -5,10 +5,10 @@ import math
 GPIO.setmode(GPIO.BCM)
 print(GPIO.VERSION)
 
-
 class Encoder:
 
     def __init__(self, name, encoder_pin: int):
+        # Initialize some stuff
         global pulse_count, start_time, time_passed, old_time_passed, old_pulse_count
         self.name = name
         self.encoder_pin = encoder_pin
@@ -21,30 +21,30 @@ class Encoder:
         GPIO.setup(self.encoder_pin, GPIO.IN, GPIO.PUD_DOWN)
 
     def callback_encoder(self, channel):
+        # Interrupt handler, increases pulse_count and updates time
         global pulse_count, start_time, time_passed
         time_passed = time.time() - start_time
         pulse_count += 1
 
     def get_pulse_count(self) -> int:
+        # return pulse_count
         global pulse_count
         return pulse_count
 
-    def get_average_pulse_speed(self) -> float:
-        global time_passed, pulse_count
-        if time_passed != 0:
-            return pulse_count / time_passed
-        else:
-            return 0
-
     def reset_pulse_count(self):
-        global pulse_count, time_passed, start_time
+        # reset pulse_count
+        global pulse_count
         pulse_count = 0
+
+    def reset_time(self):
+        # reset time_passed and start_time
+        global time_passed, start_time
         time_passed = 0
         start_time = time.time()
 
     def get_current_pulse_speed(self) -> float:
+        # Get average speed since last call in pulses/s
         global pulse_count, time_passed, old_time_passed, old_pulse_count
-        print("time " + str(time_passed))
         if (time_passed - old_time_passed):
             speed = (pulse_count - old_pulse_count) / (time_passed - old_time_passed)
         else:
@@ -54,13 +54,14 @@ class Encoder:
         return speed
 
     def get_speed(self) -> float:
+        # Convert pulse speed to cm/s
         pulse_per_second = self.get_current_pulse_speed()
         return pulse_per_second * (6 * 2 * math.pi) / 40
 
     def init_callback(self):
+        # Initialize the interrupt
         GPIO.add_event_detect(self.encoder_pin, GPIO.BOTH, callback=self.callback_encoder, bouncetime=10)
 
-
 try:
     encoder1 = Encoder(name="encoder1", encoder_pin=4)
     encoder1.init_callback()