/***************************************************
Two phase quadrature encoder(Incremental)
* ****************************************************
To determine motor with encode (CW OR CCW)
@author Dong
@version V1.0
@date 2016-5-26
All above must be included in any redistribution
* ****************************************************/
#define A_PHASE 2 // modified
#define B_PHASE 3
double flag_A = 0; //Assign a value to the token bit
double flag_B = 0; //Assign a value to the token bit
double pos = 0;
double newpos = 0;
/** * */
// set pin numbers:
const int buttonPin = 8; // the number of the pushbutton pin
const int ledPin = 13; // the number of the LED pin
// variables will change:
int buttonState = 0; // variable for reading the pushbutton status
int previousButtonState = 0;
void setup() {
// initialize the LED pin as an output:
pinMode(ledPin, OUTPUT);
// initialize the pushbutton pin as an input:
pinMode(buttonPin, INPUT_PULLUP);
//
pinMode(A_PHASE, INPUT);
pinMode(B_PHASE, INPUT);
Serial.begin(9600); //Serial Port Baudrate: 9600
//Interrupt trigger mode: RISING
attachInterrupt(digitalPinToInterrupt( A_PHASE), interrupt, RISING);
previousButtonState = digitalRead(buttonPin);
}
void loop() {
if (pos != newpos){
Serial.print("enc ");
Serial.println(pos);
delay(10);// Direction judgement
newpos = pos;
}
//
// read the state of the pushbutton value:
buttonState = digitalRead(buttonPin);
// check if the pushbutton is pressed.
// if it is, the buttonState is HIGH:
if (buttonState == HIGH && previousButtonState == LOW) {
// turn LED on:
digitalWrite(ledPin, HIGH);
Serial.println("btn 1");
delay(20);
}
if (buttonState == LOW && previousButtonState == HIGH) {
// turn LED off:
digitalWrite(ledPin, LOW);
Serial.println("btn 0");
delay(20);
}
previousButtonState = buttonState;
}
void interrupt()// Interrupt function
{ char i;
i = digitalRead( B_PHASE);
if (i == 1)
{
flag_A += 1;
}
else
{
flag_B += 1;
}
pos = flag_A - flag_B;
}