Hi!

I am coding a differential robot controller on the Pi Pico W with C++ using the Arduino IDE and I'm facing some trouble implementing the interrupts for the motor encoders.

My main class is robot_control and I am using a motor_controller class to initialize each motor and encoder. This is the class where I want to set the interrupts.

After failing a lot and reviewing many posts on the subject -specially the last comment of this thread: https://forum.arduino.cc/t/interrupt-inside-a-class/180419 I finally got to this code, which compiles but doesn't trigger the interrupts.

Can you please help me find the reason and possible solutions? Thank you in advance!

Main .ino file

// main.ino

#include "robot\_control.h"

RobotControl robot;

void setup() {
  Serial.begin(115200);
  while (!Serial) {
    ; // Wait for serial port to connect
  }
  Serial.println("Initializing robot control system...");
  robot.setup();
  Serial.println("Robot control system initialized.");
}

void loop() {
  robot.loop();
}

robot_control.cpp

#include "robot\_control.h"

RobotControl::RobotControl() : emergencyStop(false), currentMode(ControlMode::AUTONOMOUS) {
  // Adjust pin numbers as needed for your setup
  leftMotor = new MotorController(11, 12, 13, 3);   // en, l\_pwm, r\_pwm, encoderA
  rightMotor = new MotorController(7, 8, 9, 1); // en, l\_pwm, r\_pwm, encoderB

  display = new Display();
  wifiManager = new WifiManager();
  joystick = new JoystickController(26, 27, 16);  // Adjust pins as needed
}

void RobotControl::setup() {
  pinMode(EMERGENCY\_STOP\_PIN, INPUT\_PULLUP);
  display->init();
  wifiManager->connect("ssid", "psw");
}

void RobotControl::loop() {
  // Related stuff
}

robot_control.h

// robot_control.h
#pragma once
#include <Arduino.h>
#include <WiFi.h>
#include <SPI.h>
#include <Wire.h>
#include <U8g2lib.h>
#include <BTS7960.h>

class MotorController {
public:
    MotorController(int en, int l_pwm, int r_pwm, int encoderPin);
    void setSpeed(int speed);
    int getSpeed();
    void enable();
    void disable();
    void turnLeft(uint8_t pwm);
    void turnRight(uint8_t pwm);
    void update();
    void encoderLoop();
    void handleEncoder();


private:
    BTS7960 motor;
    // Encoder variables
    volatile long encoderCount;
    unsigned long lastTime;
    float currentSpeed;
    int encoderPin;

    static MotorController* sEncoder;
    static void handleEncoderISR();
};

class RobotControl {
public:
    RobotControl();
    void setup();
    void loop();

private:
    MotorController* leftMotor;
    MotorController* rightMotor;
    Display* display;
    WifiManager* wifiManager;
    JoystickController* joystick;

    // Related functions
};

motor_controller.cpp

#include "robot_control.h"

MotorController* MotorController::sEncoder = 0;

MotorController::MotorController(int en, int l_pwm, int r_pwm, int encoderPin)
    : motor(en, l_pwm, r_pwm), encoderPin(encoderPin),
      encoderCount(0), lastTime(0), currentSpeed(0.0), pulsesPerRevolution(42) {
   
    pinMode(encoderPin, INPUT_PULLUP);
   
    // Set up Encoder variables
    const int pulsesPerRevolution = 42;  

    sEncoder = this;

    // Attach interrupt for encoder
    attachInterrupt(digitalPinToInterrupt(encoderPin), MotorController::handleEncoderISR, RISING);
}

void MotorController::setSpeed(int speed) {
    setpoint = speed;
}

int MotorController::getSpeed() {
    return currentSpeed;
}

void MotorController::enable() {
    motor.Enable();
}

void MotorController::disable() {
    motor.Disable();
}

void MotorController::turnLeft(uint8_t pwm) {
    motor.TurnLeft(pwm);
}

void MotorController::turnRight(uint8_t pwm) {
    motor.TurnRight(pwm);
}

void MotorController::update() {
    // update
}

void MotorController::updatePID() {
    // PID algorithm
}

void MotorController::handleEncoder() {
    encoderCount++;
}

void MotorController::handleEncoderISR() {
    if (sEncoder != 0)
        sEncoder->handleEncoder();
}

void MotorController::encoderLoop() {
   //…
}