先试一下。

Homework/Homework5/Encoder/Encoder.ino

@@ -3,10 +3,12 @@
 const byte IN1 = 6;
 const byte IN2 = 7;
 const byte ENABLE = 5;
-const byte ENCO_B = 4;
+const byte ENCO_B = 3;
 const byte ENCO_A = 2;
 
 int count = 0;
+int forward_count = 0;
+int backward_count = 0;
 const unsigned long RESET_COUNT_PERIOD_IN_US = 50000;
 const int EDGES_PER_CYCLE = 13;
 const int REDUCTION_RATIO = 20;
@@ -25,29 +27,100 @@ void setup() {
     Timer1.initialize();
     Timer1.setPeriod(RESET_COUNT_PERIOD_IN_US);
     Timer1.attachInterrupt(resetCountAndPrint);
-    attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAFalling, FALLING);
-    analogWrite(ENABLE, 100);
+    attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAChange, CHANGE);
+    attachInterrupt(digitalPinToInterrupt(ENCO_B), onEncoBChange, CHANGE);
+    // attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAFalling, FALLING);
+    // attachInterrupt(digitalPinToInterrupt(ENCO_B), onEncoBFalling, FALLING);
+    analogWrite(ENABLE, 50);
 }
 
 void loop() {
-    // Serial.print(digitalRead(2));
-    // Serial.print(" ");
-    // Serial.println(digitalRead(4));
-    // delay(100);
+    // int statusA = analogRead(0);
+    // int statusB = analogRead(1);
+    // // Serial.print("A: ");
+    // Serial.print(statusA);
+    // // Serial.print("B: ");
+    // Serial.print(", ");
+    // Serial.println(statusB);
 }
 
 void resetCountAndPrint() {
     Serial.print("Rpm: ");
-    Serial.println((double)count * 60 * 1000 * 1000 / EDGES_PER_CYCLE / REDUCTION_RATIO / RESET_COUNT_PERIOD_IN_US);
+    // Serial.println((double)count * 60 * 1000 * 1000 / RESET_COUNT_PERIOD_IN_US / REDUCTION_RATIO / EDGES_PER_CYCLE);
+    // Serial.print(forward_count);
+    // Serial.print(' ');
+    // Serial.print(backward_count);
+    // Serial.print(' ');
+    Serial.println(count);
     count = 0;
+    // forward_count = 0;
+    // backward_count = 0;
 }
 
 void onEncoAFalling() {
-    // Serial.println("In!");
     if (digitalRead(ENCO_B) == LOW) {
-        count++;
+        backward_count++;
     }
     else {
+        forward_count++;
+    }
+}
+
+void onEncoBFalling() {
+    if (digitalRead(ENCO_A) == LOW) {
+        forward_count++;
+    }
+    else {
+        backward_count++;
+    }
+}
+
+void onEncoAChange() {
+    int b_stat = digitalRead(ENCO_B);
+    int a_stat = digitalRead(ENCO_A);
+    if (a_stat == LOW) {
+        // if (b_stat == LOW) {
+        //     Serial.println("A 1");
+        //     count--;
+        // }
+        if (b_stat == HIGH) {
+            Serial.println("A 2");
+            count ++;
+        }
+    }
+    else {
+        // if (b_stat == HIGH) {
+        //     Serial.println("A 3");
+        //     count--;
+        // }
+        if (b_stat == LOW) {
+            Serial.println("A 4");
+            count++;
+        }
+    }
+}
+
+void onEncoBChange() {
+    int a_stat = digitalRead(ENCO_A);
+    int b_stat = digitalRead(ENCO_B);
+    if (b_stat == LOW) {
+        if (a_stat == HIGH) {
+            Serial.println("B 1");
             count--;
         }
+        // if (a_stat == LOW) {
+        //     Serial.println("B 2");
+        //     count++;
+        // }
+    }
+    else {
+        if (a_stat == LOW) {
+            Serial.println("B 3");
+            count--;
+        }
+        // if (a_stat == HIGH) {
+        //     Serial.println("B 4");
+        //     count++;
+        // }
+    }
 }