126 lines
3.0 KiB
C++
126 lines
3.0 KiB
C++
#include <TimerOne.h>
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const byte IN1 = 6;
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const byte IN2 = 7;
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const byte ENABLE = 5;
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const byte ENCO_B = 3;
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const byte ENCO_A = 2;
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int count = 0;
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int forward_count = 0;
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int backward_count = 0;
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const unsigned long RESET_COUNT_PERIOD_IN_US = 50000;
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const int EDGES_PER_CYCLE = 13;
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const int REDUCTION_RATIO = 20;
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void setup() {
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pinMode(IN1, OUTPUT);
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pinMode(IN2, OUTPUT);
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pinMode(ENABLE, OUTPUT);
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pinMode(A0, INPUT);
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pinMode(A1, INPUT);
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digitalWrite(IN1, HIGH);
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digitalWrite(IN2, LOW);
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pinMode(ENCO_B, INPUT);
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pinMode(ENCO_A, INPUT);
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Serial.begin(115200);
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Timer1.initialize();
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Timer1.setPeriod(RESET_COUNT_PERIOD_IN_US);
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Timer1.attachInterrupt(resetCountAndPrint);
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attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAChange, CHANGE);
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attachInterrupt(digitalPinToInterrupt(ENCO_B), onEncoBChange, CHANGE);
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// attachInterrupt(digitalPinToInterrupt(ENCO_A), onEncoAFalling, FALLING);
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// attachInterrupt(digitalPinToInterrupt(ENCO_B), onEncoBFalling, FALLING);
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analogWrite(ENABLE, 50);
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}
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void loop() {
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// int statusA = analogRead(0);
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// int statusB = analogRead(1);
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// // Serial.print("A: ");
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// Serial.print(statusA);
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// // Serial.print("B: ");
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// Serial.print(", ");
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// Serial.println(statusB);
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}
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void resetCountAndPrint() {
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Serial.print("Rpm: ");
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// Serial.println((double)count * 60 * 1000 * 1000 / RESET_COUNT_PERIOD_IN_US / REDUCTION_RATIO / EDGES_PER_CYCLE);
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// Serial.print(forward_count);
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// Serial.print(' ');
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// Serial.print(backward_count);
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// Serial.print(' ');
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Serial.println(count);
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count = 0;
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// forward_count = 0;
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// backward_count = 0;
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}
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void onEncoAFalling() {
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if (digitalRead(ENCO_B) == LOW) {
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backward_count++;
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}
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else {
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forward_count++;
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}
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}
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void onEncoBFalling() {
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if (digitalRead(ENCO_A) == LOW) {
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forward_count++;
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}
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else {
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backward_count++;
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}
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}
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void onEncoAChange() {
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int b_stat = digitalRead(ENCO_B);
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int a_stat = digitalRead(ENCO_A);
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if (a_stat == LOW) {
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// if (b_stat == LOW) {
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// Serial.println("A 1");
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// count--;
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// }
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if (b_stat == HIGH) {
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Serial.println("A 2");
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count ++;
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}
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}
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else {
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// if (b_stat == HIGH) {
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// Serial.println("A 3");
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// count--;
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// }
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if (b_stat == LOW) {
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Serial.println("A 4");
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count++;
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}
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}
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}
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void onEncoBChange() {
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int a_stat = digitalRead(ENCO_A);
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int b_stat = digitalRead(ENCO_B);
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if (b_stat == LOW) {
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if (a_stat == HIGH) {
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Serial.println("B 1");
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count--;
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}
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// if (a_stat == LOW) {
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// Serial.println("B 2");
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// count++;
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// }
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}
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else {
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if (a_stat == LOW) {
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Serial.println("B 3");
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count--;
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}
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// if (a_stat == HIGH) {
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// Serial.println("B 4");
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// count++;
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// }
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}
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} |