PJRC编码器对象作为另一个对象的属性

我借用PJRC的编码器库来管理一个步进式注射器泵，我正在运行一个Sparkfun RedBoard和一个BigEasy Driver。

我一直在模块化地开发程序，首先定义低级类，然后从那里开始工作。我的愿望是高级类将低级类的实例作为属性。在我目前的噩梦中，我正在用步进电机和编码器对象作为属性构建一个注射器泵类。

我按照Arduino教程的建议将库组织成头文件和'.cpp'文件。Pump类在'Pump.h'中声明如下:

#include "Arduino.h"
#include "Stepper.h"
#include "Encoder.h"
#define PUMP_TOP_SPEED 50   // ml/min               top pump speed
#define PUMP_ERROR 10       // encoder counts       acceptable error
class Pump {
    private:
        Stepper motor;          // object       stepper motor
        Encoder encoder;        // object       attached encoder
        int countPerRev;        // #            encoder counts per relovlution
        float nominalVolume;    // mL           nominal syringe volume
        float innerDiameter;    // cm           syringe inner diameter
        float shaftLead;        // cm           driveshaft threading lead distance
        float degVolume;        // mL           effective volume change per degree of rotation
        bool state;             // boolean      T = ready, F = slept
    public:
        // constructor
        Pump(const Stepper& stp, const Encoder& enc, int cpr, float vol, float diam, float lead);
        float volume();                         // returns nominalVolume
        float position();                       // returns current pump position in mL
        void hold();                            // high power state to resist back-pressure
        void relax();                           // low power state
        void pump(float vol, float rate);       // pumps the requested volume at requested rate
        void release();                         // moves the plunger all the way out so syringe can be serviced
        void set();                             // returns plunger to zero mL
};

我一直在测试的'Pump.cpp'文件中的相关代码是构造函数和pump()方法的定义，如下所示:

// constructor
Pump::Pump(const Stepper& stp, const Encoder& enc, int cpr, float vol, float diam, float lead) : motor(stp), encoder(enc), countPerRev(cpr), nominalVolume(vol), innerDiameter(diam), shaftLead(lead) {
    // calculate volume per degree
    // (diameter^2 / 4) * PI * (lead / 360) = mL / deg
    // diam * diam * lead * PI / 360 / 4 = (diam diam lead PI) / 1440
    degVolume = innerDiameter * innerDiameter * shaftLead * PI / 1440;
    // construct the encoder inside here
    /*encoder = new(Encoder(2,3));
    // set it to 0
    encoder.write(0);*/
}
// pumping function
void Pump::pump(float vol, float rate) {
    /*
        vol < 0         INFUSE
        vol > 0         WITHDRAW
    */
    if (rate > PUMP_TOP_SPEED) rate = PUMP_TOP_SPEED; // limit rate
    if (!state) hold(); // wake up the motor if it's asleep
    // make sure this doesn't push outside of the acceptable range
    if (position() + vol <= nominalVolume && position() + vol >= 0) {
        // (mL) / (mL/deg) = deg
        float degrees = vol / degVolume; // find number of degrees to turn the motor
        Serial.print("Looking to turn ");
        Serial.print(degrees, DEC);
        Serial.print(" degrees at ");
        // (count) + (deg) * (count/rev) / (deg/rev) = count
        long goal = encoder.read() + degrees * countPerRev / 360; // set target encoder reading
        // (mL/min) / (mL/deg) / (deg/rev) = RPM
        int rpm = abs(rate) / degVolume / 360; // find RPM to turn the motor
        Serial.print(rpm, DEC);
        Serial.println(" RPM in full-stepping mode");
        Serial.print("Going from encoder count ");
        Serial.print(encoder.read(), DEC);
        Serial.print(" to ");
        Serial.println(goal, DEC);
        motor.drive(degrees, 1, rpm); // drive the pump
        int err = goal - encoder.read(); // how far from the goal are we in counts?
        Serial.print("Reached encoder count ");
        Serial.println(encoder.read(), DEC);
        Serial.print("Missed by ");
        Serial.println(err, DEC);
    }
}

我一直在测试我的pump()方法，并抛出了一大堆Serial.print()，试图调试和找出正在发生的事情，从我所看到的，编码器对象是泵对象的属性，它的位置随着轴的转动而更新，而编码器对象在Arduino草图中声明并传递给泵构造器。

正如你在上面看到的，我试图在泵构造函数中初始化编码器，但是当我试图编译时，我尝试的2或3件事都在Arduino IDE中抛出了一堆神秘的错误，留下注释部分，这样你就可以看到我在尝试什么。

我发现非常烦人的是，虽然我自己的步进对象工作得很好，泵对象可以转动电机，编码器对象不会在泵对象内起作用。当我运行草图时:

#include <Stepper.h>
#include <Encoder.h>
#include <Pump.h>
// initialize stepper
Stepper motor(4, 5, 6, 7, 8, 9, 10, 11);
// initialize encoder
Encoder encoder(2, 3);
// initialize the pump
Pump pump(motor, encoder, 1440, 25, 2.328, 0.1);
void setup() {
  // start the Serial connection
  Serial.begin(9600);
  // set up the motor
  motor.enable();
  motor.reset();
  // pump
  pump.pump(0.25,25);
  Serial.print("Pump reading:       ");
  Serial.println(pump.position(), DEC);
  Serial.print("Encoder reading:    ");
  Serial.println(encoder.read(), DEC);
  // cool boards
  pump.relax();
}
void loop() {}

我在串行监视器中得到以下内容:

Looking to turn 211.4397277832 degrees at 58 RPM in full-stepping mode
Going from encoder count 0 to 845
Reached encoder count 0
Missed by 845
Pump reading:       0.0000000000
Encoder reading:    845

因此，方法encoder.read()总是在泵对象中返回零，但是当我在setup()函数的草图结束时调用它时，它会转到我想要的位置。

感谢您的阅读。我希望指导如何正确地传递一个活动的编码器对象到泵，或者如何在泵内正确初始化一个编码器对象，而不会吓坏编译器。