Added rel. encoder, removed currentTime in Update()

Arduino/Things/DRV8833.cpp

@@ -35,10 +35,9 @@ DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
                                               Thing* parent)
     : RoboidControl::DifferentialDrive(parent), drv8833(config) {}
 
-void DRV8833::DifferentialDrive::Update(unsigned long currentTimeMs,
-                                        bool recurse) {
-  RoboidControl::DifferentialDrive::Update(currentTimeMs, recurse);
-  this->drv8833.Update(currentTimeMs, recurse);
+void DRV8833::DifferentialDrive::Update(bool recurse) {
+  RoboidControl::DifferentialDrive::Update(recurse);
+  this->drv8833.Update(recurse);
 }
 
 #pragma endregion Differential drive
@@ -80,32 +79,14 @@ DRV8833Motor::DRV8833Motor(DRV8833* driver,
 //   this->maxRpm = rpm;
 // }
 
-// void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
 void DRV8833Motor::SetTargetSpeed(float motorSpeed) {
   Motor::SetTargetSpeed(motorSpeed);
-  // Thing::SetAngularVelocity(velocity);
-  //  ignoring rotation axis for now.
-  //  Spherical angularVelocity = this->GetAngularVelocity();
-  // float angularSpeed = velocity.distance;  // in degrees/sec
-
-  // float rpm = angularSpeed / 360 * 60;
-  // float motorSpeed = rpm / this->maxRpm;
 
   uint8_t motorSignal =
       (uint8_t)(motorSpeed > 0 ? motorSpeed * 255 : -motorSpeed * 255);
-  // // if (direction == RotationDirection::CounterClockwise)
-  // //   speed = -speed;
-  // // Determine the rotation direction
-  // if (velocity.direction.horizontal.InDegrees() < 0)
-  //   motorSpeed = -motorSpeed;
-  // if (this->reverse)
-  //   motorSpeed = -motorSpeed;
 
-  // std::cout << "ang speed " << this->name << " = " << angularSpeed << "   rpm
-  // "
-  //           << rpm << ", motor signal = " << (int)motorSignal << "\n";
-  std::cout << "moto speed " << this->name << " = " << motorSpeed
-            << ", motor signal = " << (int)motorSignal << "\n";
+  // std::cout << "moto speed " << this->name << " = " << motorSpeed
+  //           << ", motor signal = " << (int)motorSignal << "\n";
 
 #if (ESP32)
   if (motorSpeed == 0) {  // stop

Arduino/Things/DRV8833.h

@@ -42,8 +42,7 @@ class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
                     Participant* participant = nullptr);
   DifferentialDrive(DRV8833::Configuration config, Thing* parent);
 
-  virtual void Update(unsigned long currentTimeMs,
-                      bool recurse = false) override;
+  virtual void Update(bool recurse = false) override;
 
  protected:
   DRV8833 drv8833;
@@ -56,7 +55,6 @@ class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
 /// @brief Support for a DRV8833 motor controller
 class DRV8833Motor : public Motor {
  public:
-
   /// @brief Setup the DC motor
   /// @param pinIn1 the pin number for the in1 signal
   /// @param pinIn2 the pin number for the in2 signal
@@ -65,16 +63,16 @@ class DRV8833Motor : public Motor {
                unsigned char pinIn1,
                unsigned char pinIn2,
                bool reverse = false);
-  //void SetMaxRPM(unsigned int rpm);
+  // void SetMaxRPM(unsigned int rpm);
 
-  //virtual void SetAngularVelocity(Spherical velocity) override;
-    virtual void SetTargetSpeed(float targetSpeed) override;
-  //bool reverse = false;
+  // virtual void SetAngularVelocity(Spherical velocity) override;
+  virtual void SetTargetSpeed(float targetSpeed) override;
+  // bool reverse = false;
 
  protected:
   unsigned char pinIn1 = 255;
   unsigned char pinIn2 = 255;
-  //unsigned int maxRpm = 200;
+  // unsigned int maxRpm = 200;
 
 #if (ESP32)
   uint8_t in1Ch;

Arduino/Things/DigitalInput.cpp

@@ -5,19 +5,122 @@
 namespace RoboidControl {
 namespace Arduino {
 
+#pragma region Digital input
+
 DigitalInput::DigitalInput(Participant* participant, unsigned char pin)
-    : TouchSensor(participant) {
+    : Thing(participant) {
   this->pin = pin;
 
-  pinMode(pin, INPUT);
+  pinMode(this->pin, INPUT);
 }
 
-void DigitalInput::Update(unsigned long currentTimeMs, bool recursive) {
-  this->touchedSomething = digitalRead(pin) == LOW;
-  // std::cout << "DigitalINput pin " << (int)this->pin << ": " <<
-  // this->touchedSomething << "\n";
-  Thing::Update(currentTimeMs, recursive);
+DigitalInput::DigitalInput(Thing* parent, unsigned char pin) : Thing(parent) {
+  this->pin = pin;
+
+  pinMode(this->pin, INPUT);
 }
 
+void DigitalInput::Update(bool recursive) {
+  this->isHigh = digitalRead(this->pin);
+  this->isLow = !this->isHigh;
+  // std::cout << "DigitalINput pin " << (int)this->pin << ": " <<
+  Thing::Update(recursive);
+}
+
+#pragma endregion Digital input
+
+#pragma region Touch sensor
+
+DigitalInput::TouchSensor::TouchSensor(unsigned char pin, Thing* parent)
+    : RoboidControl::TouchSensor(parent), digitalInput(parent, pin) {}
+
+void DigitalInput::TouchSensor::Update(bool recursive) {
+  this->touchedSomething = digitalInput.isLow;
+}
+
+#pragma endregion Touch sensor
+
+#pragma region Relative encoder
+
+int DigitalInput::RelativeEncoder::interruptCount = 0;
+volatile int DigitalInput::RelativeEncoder::pulseCount0 = 0;
+volatile int DigitalInput::RelativeEncoder::pulseCount1 = 0;
+
+DigitalInput::RelativeEncoder::RelativeEncoder(Configuration config,
+                                               Thing* parent)
+    : RoboidControl::RelativeEncoder(parent),
+      digitalInput(parent, config.pin),
+      pulsesPerRevolution(config.pulsesPerRevolution) {
+
+  // We support up to 2 pulse counters
+  if (interruptCount == 0)
+    attachInterrupt(digitalPinToInterrupt(config.pin), PulseInterrupt0, RISING);
+  else if (interruptCount == 1)
+    attachInterrupt(digitalPinToInterrupt(config.pin), PulseInterrupt1, RISING);
+  else {
+    // maximum interrupt count reached
+    std::cout << "DigitalInput::RelativeEncoder: max. # counters of 2 reached"
+              << std::endl;
+    return;
+  }
+  interruptIx = interruptCount;
+  interruptCount++;
+}
+
+int DigitalInput::RelativeEncoder::GetPulseCount() {
+  if (interruptIx == 0) {
+    int pulseCount = pulseCount0;
+    pulseCount0 = 0;
+    return pulseCount;
+  } else if (interruptIx == 1) {
+    int pulseCount = pulseCount1;
+    pulseCount1 = 0;
+    return pulseCount;
+  }
+  return 0;
+}
+
+void DigitalInput::RelativeEncoder::Update(bool recursive) {
+  unsigned long currentTimeMs = GetTimeMs();
+  if (this->lastUpdateTime == 0) {
+    this->lastUpdateTime = currentTimeMs;
+    return;
+  }
+
+  float timeStep = (float)(currentTimeMs - this->lastUpdateTime) / 1000.0f;
+  int pulseCount = GetPulseCount();
+  netPulseCount += pulseCount;
+
+  this->pulseFrequency = pulseCount / timeStep;
+  this->rotationSpeed = pulseFrequency / pulsesPerRevolution;
+
+  //  std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
+  //  << " timestep " << timeStep << std::endl;
+
+  this->lastUpdateTime = currentTimeMs;
+}
+
+#if defined(ESP8266) || defined(ESP32)
+void ICACHE_RAM_ATTR DigitalInput::RelativeEncoder::PulseInterrupt0() {
+  pulseCount0++;
+}
+#else
+void DigitalInput::RelativeEncoder::PulseInterrupt0() {
+  pulseCount0++;
+}
+#endif
+
+#if defined(ESP8266) || defined(ESP32)
+void IRAM_ATTR DigitalInput::RelativeEncoder::PulseInterrupt1() {
+  pulseCount1++;
+}
+#else
+void DigitalInput::RelativeEncoder::PulseInterrupt1() {
+  pulseCount1++;
+}
+#endif
+
+#pragma endregion Relative encoder
+
 }  // namespace Arduino
 }  // namespace RoboidControl

Arduino/Things/DigitalInput.h

@@ -1,26 +1,88 @@
 #pragma once
 
+#include "Things/RelativeEncoder.h"
 #include "Things/TouchSensor.h"
 
 namespace RoboidControl {
 namespace Arduino {
 
 /// @brief A digital input represents the stat of a digital GPIO pin
-class DigitalInput : public TouchSensor {
+class DigitalInput : public Thing {
  public:
   /// @brief Create a new digital input
   /// @param participant The participant to use
   /// @param pin The digital pin
   DigitalInput(Participant* participant, unsigned char pin);
+  DigitalInput(Thing* parent, unsigned char pin);
+
+  bool isHigh = false;
+  bool isLow = false;
 
   /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
-  virtual void Update(unsigned long currentTimeMs,
-                      bool recursive = false) override;
+  virtual void Update(bool recursive = false) override;
 
  protected:
   /// @brief The pin used for digital input
   unsigned char pin = 0;
+
+ public:
+  class TouchSensor;
+  class RelativeEncoder;
 };
 
+#pragma region Touch sensor
+
+class DigitalInput::TouchSensor : public RoboidControl::TouchSensor {
+ public:
+  TouchSensor(unsigned char pin, Thing* parent);
+
+  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
+  virtual void Update(bool recurse = false) override;
+
+ protected:
+  DigitalInput digitalInput;
+};
+
+#pragma endregion Touch sensor
+
+#pragma region Incremental encoder
+
+class DigitalInput::RelativeEncoder : public RoboidControl::RelativeEncoder {
+ public:
+  struct Configuration {
+    unsigned char pin;
+    unsigned char pulsesPerRevolution;
+  };
+
+  RelativeEncoder(Configuration config, Thing* parent);
+
+  unsigned char pulsesPerRevolution;
+
+  /// @brief The current pulse frequency in Hz
+  float pulseFrequency = 0;
+
+  /// @copydoc RoboidControl::Thing::Update()
+  virtual void Update(bool recurse = false) override;
+
+ protected:
+  DigitalInput digitalInput;
+
+  int interruptIx = 0;
+
+  static int interruptCount;
+
+  volatile static int pulseCount0;
+  static void PulseInterrupt0();
+
+  volatile static int pulseCount1;
+  static void PulseInterrupt1();
+
+  int GetPulseCount();
+  long netPulseCount = 0;
+  unsigned long lastUpdateTime = 0;
+};
+
+#pragma endregion Incremental encoder
+
 }  // namespace Arduino
 }  // namespace RoboidControl

Arduino/Things/UltrasonicSensor.cpp

@@ -31,7 +31,7 @@ float UltrasonicSensor::GetDistance() {
 
   // Measure the duration of the pulse on the echo pin
   unsigned long duration_us =
-      pulseIn(pinEcho, HIGH);  // the result is in microseconds
+      pulseIn(pinEcho, HIGH, 10000);  // the result is in microseconds
 
   // Calculate the distance:
   // * Duration should be divided by 2, because the ping goes to the object
@@ -56,9 +56,9 @@ float UltrasonicSensor::GetDistance() {
   return this->distance;
 }
 
-void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
+void UltrasonicSensor::Update(bool recursive) {
   GetDistance();
-  Thing::Update(currentTimeMs, recursive);
+  Thing::Update(recursive);
 }
 
 #pragma region Touch sensor
@@ -76,9 +76,8 @@ UltrasonicSensor::TouchSensor::TouchSensor(
   this->touchedSomething = false;
 }
 
-void UltrasonicSensor::TouchSensor::Update(unsigned long currentTimeMs,
-                                           bool recursive) {
-  this->ultrasonic.Update(currentTimeMs, recursive);
+void UltrasonicSensor::TouchSensor::Update(bool recursive) {
+  this->ultrasonic.Update(recursive);
   this->touchedSomething = (this->ultrasonic.distance > 0 &&
                             this->ultrasonic.distance <= this->touchDistance);
 }

Arduino/Things/UltrasonicSensor.h

@@ -35,8 +35,7 @@ class UltrasonicSensor : Thing {
   float GetDistance();
 
   /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
-  virtual void Update(unsigned long currentTimeMs,
-                      bool recursive = false) override;
+  virtual void Update(bool recursive = false) override;
 
  protected:
   /// @brief The pin number of the trigger signal
@@ -58,8 +57,7 @@ class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
   float touchDistance = 0.2f;
 
   /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
-  virtual void Update(unsigned long currentTimeMs,
-                      bool recursive = false) override;
+  virtual void Update(bool recursive = false) override;
 
  protected:
   UltrasonicSensor ultrasonic;

Participant.cpp

@@ -30,10 +30,10 @@ Participant::~Participant() {
   delete[] this->ipAddress;
 }
 
-void Participant::Update(unsigned long currentTimeMs) {
+void Participant::Update() {
   for (Thing* thing : this->things) {
     if (thing != nullptr)
-      thing->Update(currentTimeMs, true);
+      thing->Update(true);
   }
 }
 

Participant.h

@@ -94,7 +94,7 @@ class Participant {
 
   /// @brief Update all things for this participant
   /// @param currentTimeMs The current time in milliseconds (optional)
-  virtual void Update(unsigned long currentTimeMs = 0);
+  virtual void Update();
 
  public:
   static ParticipantRegistry registry;

Participants/ParticipantUDP.cpp

@@ -4,8 +4,8 @@
 
 #include "Arduino/ArduinoParticipant.h"
 #include "EspIdf/EspIdfParticipant.h"
-#include "Windows/WindowsParticipant.h"
 #include "Posix/PosixParticipant.h"
+#include "Windows/WindowsParticipant.h"
 
 #include <string.h>
 
@@ -66,9 +66,8 @@ void ParticipantUDP::SetupUDP(int localPort,
 
 #pragma region Update
 
-void ParticipantUDP::Update(unsigned long currentTimeMs) {
-  if (currentTimeMs == 0)
-    currentTimeMs = Thing::GetTimeMs();
+void ParticipantUDP::Update() {
+  unsigned long currentTimeMs = Thing::GetTimeMs();
 
   if (this->isIsolated == false) {
     if (this->connected == false)
@@ -88,11 +87,11 @@ void ParticipantUDP::Update(unsigned long currentTimeMs) {
     this->ReceiveUDP();
   }
 
-  UpdateMyThings(currentTimeMs);
-  UpdateOtherThings(currentTimeMs);
+  UpdateMyThings();
+  UpdateOtherThings();
 }
 
-void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
+void ParticipantUDP::UpdateMyThings() {
   for (Thing* thing : this->things) {
     if (thing == nullptr)  // || thing->GetParent() != nullptr)
       continue;
@@ -102,7 +101,7 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
         ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
         this->Send(this->remoteSite, thingMsg);
         delete thingMsg;
-        
+
         if (thing->nameChanged) {
           NameMsg* nameMsg = new NameMsg(this->networkId, thing);
           this->Send(this->remoteSite, nameMsg);
@@ -115,7 +114,7 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
     // Because when a thing creates a thing in the update,
     // that new thing is not sent out (because of hierarchyChanged)
     // before it is updated itself: it is immediatedly updated!
-    thing->Update(currentTimeMs, false);
+    thing->Update(false);
 
     if (!(this->isIsolated || this->networkId == 0)) {
       if (thing->terminate) {
@@ -142,21 +141,21 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
   }
 }
 
-void ParticipantUDP::UpdateOtherThings(unsigned long currentTimeMs = 0) {
+void ParticipantUDP::UpdateOtherThings() {
 #if defined(NO_STD)
   Participant** participants = Participant::registry.GetAll();
   for (int ix = 0; ix < Participant::registry.count; ix++) {
     Participant* participant = participants[ix];
-#else  
+#else
   for (Participant* participant : Participant::registry.GetAll()) {
-#endif    
+#endif
     if (participant == nullptr || participant == this)
       continue;
 
     // Call only the Participant version of the Update.
     // This is to deal with the function where one of the (remote)
     // participants is actually a local participant
-    participant->Participant::Update(currentTimeMs);
+    participant->Participant::Update();
     if (this->isIsolated)
       continue;
 

Participants/ParticipantUDP.h

@@ -100,13 +100,13 @@ class ParticipantUDP : public Participant {
 #pragma region Update
 
  public:
-  virtual void Update(unsigned long currentTimeMs = 0) override;
+  virtual void Update() override;
 
  protected:
   unsigned long nextPublishMe = 0;
 
-  virtual void UpdateMyThings(unsigned long currentTimeMs);
-  virtual void UpdateOtherThings(unsigned long currentTimeMs);
+  virtual void UpdateMyThings();
+  virtual void UpdateOtherThings();
 
 #pragma endregion Update
 

Participants/SiteServer.cpp

@@ -22,12 +22,12 @@ SiteServer::SiteServer(int port) : ParticipantUDP(port) {
 
 #pragma region Update
 
-void SiteServer::UpdateMyThings(unsigned long currentTimeMs) {
+void SiteServer::UpdateMyThings() {
   for (Thing* thing : this->things) {
     if (thing == nullptr)
       continue;
 
-    thing->Update(currentTimeMs, true);
+    thing->Update( true);
 
     if (this->isIsolated == false) {
       // Send to all other participants

Participants/SiteServer.h

@@ -24,7 +24,7 @@ class SiteServer : public ParticipantUDP {
 
 #pragma region Update
 
-  virtual void UpdateMyThings(unsigned long currentTimeMs) override;
+  virtual void UpdateMyThings() override;
 
 #pragma endregion Update
 

Thing.cpp

@@ -230,7 +230,8 @@ Spherical Thing::GetAngularVelocity() {
 
 unsigned long Thing::GetTimeMs() {
 #if defined(ARDUINO)
-  return millis();
+  unsigned long ms = millis();
+  return ms;
 #else
   auto now = std::chrono::steady_clock::now();
   auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -239,11 +240,11 @@ unsigned long Thing::GetTimeMs() {
 #endif
 }
 
-void Thing::Update(bool recursive) {
-  Update(GetTimeMs(), recursive);
-}
+// void Thing::Update(bool recursive) {
+//   Update(GetTimeMs(), recursive);
+// }
 
-void Thing::Update(unsigned long currentTimeMs, bool recursive) {
+void Thing::Update(bool recursive) {
   // if (this->positionUpdated || this->orientationUpdated)
   //   OnPoseChanged callback
   this->positionUpdated = false;
@@ -254,18 +255,18 @@ void Thing::Update(unsigned long currentTimeMs, bool recursive) {
   this->nameChanged = false;
 
   if (recursive) {
-    // std::cout << "# chilren: " << (int)this->childCount << std::endl;
+    // std::cout << "# children: " << (int)this->childCount << std::endl;
     for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
       Thing* child = this->children[childIx];
       if (child == nullptr)
         continue;
-      child->Update(currentTimeMs, recursive);
+      child->Update(recursive);
     }
   }
 }
 
-void Thing::UpdateThings(unsigned long currentTimeMs) {
-  IsolatedParticipant::Isolated()->Update(currentTimeMs);
+void Thing::UpdateThings() {
+  IsolatedParticipant::Isolated()->Update();
 }
 
 #pragma endregion Update

Thing.h

@@ -32,6 +32,7 @@ class Thing {
     ControlledMotor,
     UncontrolledMotor,
     Servo,
+    IncrementalEncoder,
     // Other
     Roboid,
     Humanoid,
@@ -63,7 +64,8 @@ class Thing {
   Thing(Thing* parent, unsigned char thingType = 0); //, unsigned char thingId = 0);
 
   static Thing Reconstruct(Participant* owner, unsigned char thingType, unsigned char thingId);
-#pragma endregion Init
+
+  #pragma endregion Init
 
  public:
   /// @brief Terminated things are no longer updated
@@ -214,15 +216,15 @@ class Thing {
   static unsigned long GetTimeMs();
 
   /// @brief Updates the state of the thing
-  void Update(bool recursive = false);
+  //void Update(bool recursive = false);
 
   /// @brief Updates the state of the thing
   /// @param currentTimeMs The current clock time in milliseconds; if this is
   /// zero, the current time is retrieved automatically
   /// @param recurse When true, this will Update the descendants recursively
-  virtual void Update(unsigned long currentTimeMs, bool recurse = false);
+  virtual void Update(bool recurse = false);
 
-  static void UpdateThings(unsigned long currentTimeMs);
+  static void UpdateThings();
 
 #pragma endregion Update
 

Things/DifferentialDrive.cpp

@@ -2,15 +2,24 @@
 
 namespace RoboidControl {
 
-DifferentialDrive::DifferentialDrive(Participant* participant,
-                                     unsigned char thingId)
-    : Thing(participant, Thing::Type::DifferentialDrive, thingId) {
+// DifferentialDrive::DifferentialDrive(Participant* participant,
+//                                      unsigned char thingId)
+//     : Thing(participant, Thing::Type::DifferentialDrive, thingId) {
+//   this->leftWheel = new Motor();
+//   this->rightWheel = new Motor();
+// }
+
+// DifferentialDrive::DifferentialDrive(Thing* parent, unsigned char thingId)
+//     : Thing(parent, Thing::Type::DifferentialDrive, thingId) {}
+
+DifferentialDrive::DifferentialDrive(Participant* owner) : Thing(owner, Type::DifferentialDrive) {
+  this->leftWheel = new Motor();
+  this->rightWheel = new Motor();
+}
+DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent, Type::DifferentialDrive) {
   this->leftWheel = new Motor();
   this->rightWheel = new Motor();
 }
-
-DifferentialDrive::DifferentialDrive(Thing* parent, unsigned char thingId)
-    : Thing(parent, Thing::Type::DifferentialDrive, thingId) {}
 
 void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
                                            float wheelSeparation) {
@@ -47,7 +56,7 @@ void DifferentialDrive::SetWheelVelocity(float speedLeft, float speedRight) {
         Spherical(speedRight, Direction::right));
 }
 
-void DifferentialDrive::Update(unsigned long currentMs, bool recursive) {
+void DifferentialDrive::Update(bool recursive) {
   if (this->linearVelocityUpdated) {
     // this assumes forward velocity only....
     float linearVelocity = this->GetLinearVelocity().distance;
@@ -68,7 +77,7 @@ void DifferentialDrive::Update(unsigned long currentMs, bool recursive) {
 
     this->SetWheelVelocity(speedLeft, speedRight);
   }
-  Thing::Update(currentMs, recursive);
+  Thing::Update(recursive);
 }
 
 }  // namespace RoboidControl

Things/DifferentialDrive.h

@@ -16,13 +16,13 @@ class DifferentialDrive : public Thing {
   /// @param participant The local participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DifferentialDrive(Participant* participant = nullptr,
-                    unsigned char thingId = 0);
+  DifferentialDrive(Participant* participant = nullptr); //,
+                    //unsigned char thingId = 0);
   /// @brief Create a new child differential drive
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DifferentialDrive(Thing* parent, unsigned char thingId = 0);
+  DifferentialDrive(Thing* parent); //, unsigned char thingId = 0);
 
   /// @brief Configures the dimensions of the drive
   /// @param wheelDiameter The diameter of the wheels in meters
@@ -45,7 +45,7 @@ class DifferentialDrive : public Thing {
   void SetWheelVelocity(float speedLeft, float speedRight);
 
   /// @copydoc RoboidControl::Thing::Update(unsigned long)
-  virtual void Update(unsigned long currentMs, bool recursive = true) override;
+  virtual void Update(bool recursive = true) override;
 
   /// @brief The left wheel
   Motor* leftWheel = nullptr;

Things/DigitalSensor.cpp

@@ -4,11 +4,15 @@ namespace RoboidControl {
 
 //DigitalSensor::DigitalSensor() : Thing(Type::Switch) {}
 
-DigitalSensor::DigitalSensor(Participant* owner, unsigned char thingId)
-    : Thing(owner, Type::Switch, thingId) {}
+// DigitalSensor::DigitalSensor(Participant* owner, unsigned char thingId)
+//     : Thing(owner, Type::Switch, thingId) {}
 
-DigitalSensor::DigitalSensor(Thing* parent, unsigned char thingId)
-    : Thing(parent, Type::Switch) {}
+// DigitalSensor::DigitalSensor(Thing* parent, unsigned char thingId)
+//     : Thing(parent, Type::Switch) {}
+
+DigitalSensor::DigitalSensor(Participant* owner) : Thing(owner, Type::Switch) {}
+
+DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent, Type::Switch) {}
 
 int DigitalSensor::GenerateBinary(char* bytes, unsigned char* ix) {
   bytes[(*ix)++] = state ? 1 : 0;

Things/DigitalSensor.h

@@ -13,12 +13,12 @@ class DigitalSensor : public Thing {
   /// @param owner The owning participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DigitalSensor(Participant* owner = nullptr, unsigned char thingId = 0);
+  DigitalSensor(Participant* owner = nullptr); //, unsigned char thingId = 0);
   /// @brief Create a new child digital sensor
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DigitalSensor(Thing* parent, unsigned char thingId = 0);
+  DigitalSensor(Thing* parent); //, unsigned char thingId = 0);
 
   /// @brief The sigital state
   bool state = 0;

Things/Motor.cpp

@@ -1,8 +1,8 @@
 #include "Motor.h"
 
-RoboidControl::Motor::Motor(Participant* owner) {}
+RoboidControl::Motor::Motor(Participant* owner) : Thing(owner, Type::UncontrolledMotor) {}
 
-RoboidControl::Motor::Motor(Thing* parent) {}
+RoboidControl::Motor::Motor(Thing* parent) : Thing(parent, Type::UncontrolledMotor) {}
 
 void RoboidControl::Motor::SetTargetSpeed(float targetSpeed) {
     this->targetSpeed = targetSpeed;

Things/RelativeEncoder.cpp

@@ -0,0 +1,23 @@
+#include "RelativeEncoder.h"
+
+namespace RoboidControl {
+
+RelativeEncoder::RelativeEncoder(Participant* owner)
+    : Thing(owner, Type::IncrementalEncoder) {}
+RelativeEncoder::RelativeEncoder(Thing* parent)
+    : Thing(parent, Type::IncrementalEncoder) {}
+
+float RelativeEncoder::GetRotationSpeed() {
+  return rotationSpeed;
+}
+
+int RelativeEncoder::GenerateBinary(char* data, unsigned char* ix) {
+  data[(*ix)++] = (unsigned char)(this->rotationSpeed * 127);
+  return 1;
+}
+
+void RelativeEncoder::ProcessBinary(char* data) {
+  this->rotationSpeed = (float)data[0] / 127;
+}
+
+}  // namespace RoboidControl

Things/RelativeEncoder.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include "Thing.h"
+
+namespace RoboidControl {
+
+/// @brief An Incremental Encoder measures the rotations of an axle using a
+/// rotary sensor. Some encoders are able to detect direction, while others can
+/// not.
+class RelativeEncoder : public Thing {
+ public:
+  /// @brief Creates a sensor which measures distance from pulses
+  /// @param pulsesPerRevolution The number of pulse edges which make a
+  /// full rotation
+  /// @param distancePerRevolution The distance a wheel travels per full
+  /// rotation
+  RelativeEncoder(Participant* owner);
+  RelativeEncoder(Thing* parent);
+
+  /// @brief Get the rotation speed 
+  /// @return The speed in revolutions per second
+  virtual float GetRotationSpeed();
+  float rotationSpeed;
+
+  /// @brief Function used to generate binary data for this touch sensor
+  /// @param buffer The byte array for thw binary data
+  /// @param ix The starting position for writing the binary data
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
+  /// @brief Function used to process binary data received for this touch sensor
+  /// @param bytes The binary data to process
+  virtual void ProcessBinary(char* bytes) override;
+
+protected:
+    /// @brief rotation speed in revolutions per second
+    //float _rotationSpeed;
+};
+
+}  // namespace RoboidControl

Things/TemperatureSensor.cpp

@@ -4,9 +4,13 @@
 
 namespace RoboidControl {
 
-TemperatureSensor::TemperatureSensor(Participant* participant,
-                                     unsigned char thingId)
-    : Thing(participant, Type::TemperatureSensor, thingId) {}
+// TemperatureSensor::TemperatureSensor(Participant* participant,
+//                                      unsigned char thingId)
+//     : Thing(participant, Type::TemperatureSensor, thingId) {}
+
+TemperatureSensor::TemperatureSensor(Participant* owner) : Thing(owner, Type::TemperatureSensor) {}
+
+TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent, Type::TemperatureSensor) {}
 
 void TemperatureSensor::SetTemperature(float temp) {
   this->temperature = temp;

Things/TemperatureSensor.h

@@ -12,7 +12,8 @@ class TemperatureSensor : public Thing {
   /// @brief Create a temperature sensor with the given ID
   /// @param networkId The network ID of the sensor
   /// @param thingId The ID of the thing
-  TemperatureSensor(Participant* participant, unsigned char thingId);
+  TemperatureSensor(Participant* participant); //, unsigned char thingId);
+  TemperatureSensor(Thing* parent);
 
       /// @brief The measured temperature
       float temperature = 0;

Things/TouchSensor.cpp

@@ -2,14 +2,20 @@
 
 namespace RoboidControl {
 
-//TouchSensor::TouchSensor() : Thing(Thing::Type::TouchSensor) {}
+// TouchSensor::TouchSensor() : Thing(Thing::Type::TouchSensor) {}
 
-TouchSensor::TouchSensor(Participant* owner, unsigned char thingId)
-    : Thing(owner, Thing::Type::TouchSensor, thingId) {}
+// TouchSensor::TouchSensor(Participant* owner, unsigned char thingId)
+//     : Thing(owner, Thing::Type::TouchSensor, thingId) {}
 
-TouchSensor::TouchSensor(Thing* parent, unsigned char thingId) : Thing(parent->owner, Thing::Type::TouchSensor, thingId) {
-  this->SetParent(parent);
-}
+// TouchSensor::TouchSensor(Thing* parent, unsigned char thingId) :
+// Thing(parent->owner, Thing::Type::TouchSensor, thingId) {
+//   this->SetParent(parent);
+// }
+
+TouchSensor::TouchSensor(Participant* owner)
+    : Thing(owner, Type::TouchSensor) {}
+
+TouchSensor::TouchSensor(Thing* parent) : Thing(parent, Type::TouchSensor) {}
 
 int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
   bytes[(*ix)++] = touchedSomething ? 1 : 0;

Things/TouchSensor.h

@@ -14,12 +14,12 @@ class TouchSensor : public Thing {
   /// @param owner The owning participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  TouchSensor(Participant* owner = nullptr, unsigned char thingId = 0);
+  TouchSensor(Participant* owner = nullptr); //, unsigned char thingId = 0);
   /// @brief Create a new child touch sensor
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  TouchSensor(Thing* parent, unsigned char thingId = 0);
+  TouchSensor(Thing* parent); //, unsigned char thingId = 0);
 
   /// @brief Value which is true when the sensor is touching something, false
   /// otherwise