Embedded_codes/pwm_vs_speed_plotter/pwm_vs_speed_plotter.ino
2018-02-18 14:02:33 +05:30

79 lines
2.5 KiB
C++

int encoderPin1 = 2;
int encoderPin2 = 3;
volatile int A_lastEncoded = 0;
volatile long A_encoderValue = 0;
volatile int B_lastEncoded = 0;
volatile long B_encoderValue = 0;
long A_lastencoderValue = 0;
long B_lastencoderValue = 0;
int lastMSB = 0;
int lastLSB = 0;
ISR (PCINT1_vect){
int MSB = digitalRead(encoderPin1); //MSB = most significant bit
int LSB = digitalRead(encoderPin2); //LSB = least significant bit
int encoded = (MSB << 1) |LSB; //converting the 2 pin value to single number
int sum = (A_lastEncoded << 2) | encoded; //adding it to the previous encoded value
if(sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011) A_encoderValue ++;
if(sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000) A_encoderValue --;
A_lastEncoded = encoded;
}
void setup() {
Serial.begin (9600);
*digitalPinToPCMSK(A5) |= bit (digitalPinToPCMSKbit(A5)); // enable pin
PCIFR |= bit (digitalPinToPCICRbit(A5)); // clear any outstanding interrupt
PCICR |= bit (digitalPinToPCICRbit(A5));
*digitalPinToPCMSK(A4) |= bit (digitalPinToPCMSKbit(A4)); // enable pin
PCIFR |= bit (digitalPinToPCICRbit(A4)); // clear any outstanding interrupt
PCICR |= bit (digitalPinToPCICRbit(A4));
pinMode(encoderPin1, INPUT);
pinMode(encoderPin2, INPUT);
digitalWrite(encoderPin1, HIGH); //turn pullup resistor on
digitalWrite(encoderPin2, HIGH); //turn pullup resistor on
int i;
for(i = 6; i<13; i++)
pinMode(i,OUTPUT);
digitalWrite(10,1);
digitalWrite(11,0);
//call updateEncoder() when any high/low changed seen
//on interrupt 0 (pin 2), or interrupt 1 (pin 3)
attachInterrupt(0, updateEncoder, CHANGE);
attachInterrupt(1, updateEncoder, CHANGE);
}
int j=100;
void loop(){
//Do stuff here
analogWrite(9,j);
Serial.print(j);Serial.print("\t");Serial.println(B_encoderValue);
j++;B_encoderValue=0;
delay(500); //just here to slow down the output, and show it will work even during a delay
if(j==256)return;
}
void updateEncoder(){
int MSB = digitalRead(encoderPin1); //MSB = most significant bit
int LSB = digitalRead(encoderPin2); //LSB = least significant bit
int encoded = (MSB << 1) |LSB; //converting the 2 pin value to single number
int sum = (B_lastEncoded << 2) | encoded; //adding it to the previous encoded value
if(sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011) B_encoderValue ++;
if(sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000) B_encoderValue --;
B_lastEncoded = encoded;
}