yikestone/ros_arduino_bridge
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Merge pull request #14 from KristofRobot/arduino_enc_counter

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Added direct support for wheel encoders (Arduino Uno)
This commit is contained in:
pirobot 2015-01-02 06:42:57 -08:00
commit 4ec5c081e2
3 changed files with 77 additions and 0 deletions
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24
ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -58,6 +58,9 @@
/* The RoboGaia encoder shield */
#define ROBOGAIA
/* Encoders directly attached to Arduino board */
//#define ARDUINO_ENC_COUNTER
#endif
//#define USE_SERVOS // Enable use of PWM servos as defined in servos.h
@ -236,6 +239,27 @@ void setup() {
// Initialize the motor controller if used */
#ifdef USE_BASE
#ifdef ARDUINO_ENC_COUNTER
//set as inputs
DDRD &= ~(1<<LEFT_ENC_PIN_A);
DDRD &= ~(1<<LEFT_ENC_PIN_B);
DDRC &= ~(1<<RIGHT_ENC_PIN_A);
DDRC &= ~(1<<RIGHT_ENC_PIN_B);
//enable pull up resistors
PORTD |= (1<<LEFT_ENC_PIN_A);
PORTD |= (1<<LEFT_ENC_PIN_B);
PORTC |= (1<<RIGHT_ENC_PIN_A);
PORTC |= (1<<RIGHT_ENC_PIN_B);
// tell pin change mask to listen to left encoder pins
PCMSK2 |= (1 << LEFT_ENC_PIN_A)|(1 << LEFT_ENC_PIN_B);
// tell pin change mask to listen to right encoder pins
PCMSK1 |= (1 << RIGHT_ENC_PIN_A)|(1 << RIGHT_ENC_PIN_B);
// enable PCINT1 and PCINT2 interrupt in the general interrupt mask
PCICR |= (1 << PCIE1) | (1 << PCIE2);
#endif
initMotorController();
resetPID();
#endif

12
ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.h
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@ -2,6 +2,18 @@
Encoder driver function definitions - by James Nugen
************************************************************ */
#ifdef ARDUINO_ENC_COUNTER
//below can be changed, but should be PORTD pins;
//otherwise additional changes in the code are required
#define LEFT_ENC_PIN_A PD2 //pin 2
#define LEFT_ENC_PIN_B PD3 //pin 3
//below can be changed, but should be PORTC pins
#define RIGHT_ENC_PIN_A PC4 //pin A4
#define RIGHT_ENC_PIN_B PC5 //pin A5
#endif
long readEncoder(int i);
void resetEncoder(int i);
void resetEncoders();

41
ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.ino
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@ -27,6 +27,47 @@
if (i == LEFT) return encoders.YAxisReset();
else return encoders.XAxisReset();
}
#elif defined ARDUINO_ENC_COUNTER
volatile long left_enc_pos = 0L;
volatile long right_enc_pos = 0L;
static const int8_t ENC_STATES [] = {0,1,-1,0,-1,0,0,1,1,0,0,-1,0,-1,1,0}; //encoder lookup table
/* Interrupt routine for LEFT encoder, taking care of actual counting */
ISR (PCINT2_vect){
static uint8_t enc_last=0;
enc_last <<=2; //shift previous state two places
enc_last |= (PIND & (3 << 2)) >> 2; //read the current state into lowest 2 bits
left_enc_pos += ENC_STATES[(enc_last & 0x0f)];
}
/* Interrupt routine for RIGHT encoder, taking care of actual counting */
ISR (PCINT1_vect){
static uint8_t enc_last=0;
enc_last <<=2; //shift previous state two places
enc_last |= (PINC & (3 << 4)) >> 4; //read the current state into lowest 2 bits
right_enc_pos += ENC_STATES[(enc_last & 0x0f)];
}
/* Wrap the encoder reading function */
long readEncoder(int i) {
if (i == LEFT) return left_enc_pos;
else return right_enc_pos;
}
/* Wrap the encoder reset function */
void resetEncoder(int i) {
if (i == LEFT){
left_enc_pos=0L;
return;
} else {
right_enc_pos=0L;
return;
}
}
#else
#error A encoder driver must be selected!
#endif