Liberary doesn't work when generating a PWM signal (when pins 15 and 16 split the PWM and encoder)

[TheCorruptedEngineer]

this is the code. if i remove the "ledcWrite(ledChannel, counter);" and "ledcAttachPin(ledPin, ledChannel);" everything works and the encoder position is kept track of. If the line is present 90% of the encoder rotations are not detected. I tried to change the ledChannel,frequency and resolution. it did nothing
I used a regular ESP32 Dev Module

#include <ESP32Encoder.h> // https://github.com/madhephaestus/ESP32Encoder.git
#define CLK 4 // CLK ENCODER
#define DT 15 // DT ENCODER
ESP32Encoder encoder;

const int ledPin = 16; // 16 corresponds to GPIO16
const int freq = 25000;
const int ledChannel = 0;
const int resolution = 8;
int counter = 50;
void setup () {
encoder.attachHalfQuad ( DT, CLK );
encoder.setCount ( 0 );
ledcSetup(ledChannel, freq, resolution);
ledcAttachPin(ledPin, ledChannel);
ledcWrite(ledChannel, counter);
Serial.begin ( 115200 );
}

void loop () {
long newPosition = encoder.getCount() / 2;
Serial.println(newPosition);
}

[madhephaestus]

try using ESP32Servo library with the ESP32PWM objects. I have used those two together to make motors with encoders into industrial servo style devices before. This library combines them to make motor objects: https://github.com/WPIRoboticsEngineering/RBE1001Lib

[TheCorruptedEngineer]

@madhephaestus
even when using the ESP32PWM object I get the same behavior (a lot of the rotations are not being detected). Allocating all or different timers does nothing. code used:

#include <ESP32Encoder.h>
#define CLK 4 // CLK ENCODER
#define DT 15 // DT ENCODER
ESP32Encoder encoder;

#include <ESP32Servo.h>
int APin = 16;
ESP32PWM pwm;
int freq = 25000;
float brightness = 150;

void setup () {
encoder.attachHalfQuad ( DT, CLK );
encoder.setCount ( 0 );
Serial.begin ( 115200 );
ESP32PWM::allocateTimer(3);
pwm.attachPin(APin, freq, 8); // 1KHz 8 bit
pwm.write(brightness);
}

void loop () {
long newPosition = encoder.getCount() / 2;
Serial.println(newPosition);
delay(10);
}

[madhephaestus]

does moving the pins around change anything? 16 and 15 are a serial port pins which means they share a crossbar for mod changing, and maybe there is some issue with the crossbar switching back and forth from input to output? just to test try moving the PWM somewhere else?

[TheCorruptedEngineer]

for some reason, the same code that didn't work the previous day worked today perfectly for about 3 minutes before producing the same behavior. As per your suggestion, I ended up switching the PWM pin to GPIO 32 and since then it all seems to be functioning normally

[madhephaestus]

Im going to leave this open because there is some strange lower level interaction here, but i am glad you are able to move forward.

[madhephaestus]

One other though could be a bad or floating ground where the PWM is inducing a transient current into the encoder pin next door.