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#include <TimerThree.h>
int enA = 6; //PWM pin
int enB = 5; //GND
int pwm1 = 4; //
int pwm2 = 3;
int encoA = 32;
int encoB = 31;
int speed = 1000; // speed 0-1
double sp = 0.00;
double rpm = 0.00;
volatile long encount = 0;
unsigned long Ltime = 0;
unsigned long Ctime = 0;
unsigned long Ptime = 0;
volatile int PWMval = 0; // PWM value 0-100
void setup() {
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(pwm1, OUTPUT);
pinMode(pwm2, OUTPUT);
pinMode(encoA, INPUT_PULLUP);
pinMode(encoB, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE);
attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE);
Timer3.initialize(800); // 800 microseconds or 1.25kHz
Timer3.attachInterrupt(updatePWM);
Serial.begin(9600);
}
void updatePWM() {
static int counter = 0;
if (counter < PWMval) {
digitalWrite(enA, HIGH);
} else {
digitalWrite(enA, LOW);
}
counter++;
if (counter >= 100) {
counter = 0;
}
}
void mcpsoftpwm(int value) {
if (value < 0) value = 0;
if (value > 100) value = 100;
Serial.print("softPWM pin: enA, value: ");
Serial.println(value);
PWMval = value;
}
void encoderISR() {
encount++;
}
void readenc() {
Ctime = micros();
Ptime = Ctime - Ltime;
Ltime = Ctime;
rpm = (encount / 211.2) * (60000000.0 / Ptime);
Serial.print("RPM: ");
Serial.print(rpm);
Serial.print(" Sample period:");
Serial.print(Ptime);
Serial.print("ms, encoder count:");
Serial.println(encount);
encount = 0;
}
void resetenc(){
Ctime = micros();
Ltime = Ctime;
encount = 0;
}
void move(int sped) {
sp = abs(sped)*0.1;
mcpsoftpwm(sp);
digitalWrite(enB, LOW);
if (sped < 0) {
Serial.print("back ");
digitalWrite(pwm1, LOW);
digitalWrite(pwm2, HIGH);
} else {
Serial.print("forward ");
digitalWrite(pwm1, HIGH);
digitalWrite(pwm2, LOW);
}
Serial.println(sp);
}
void loop() {
move(speed);
delay(1000);
readenc();
delay(1000);
Serial.println();
move(0);
delay(1000);
resetenc();
delay(1000);
readenc();
delay(1000);
Serial.println();
move(500);
delay(1000);
readenc();
delay(1000);
Serial.println();
}
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