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#include <Arduino.h>
int enA = 1;
int enB = 2;
int pwm1 = 3;
int pwm2 = 4;
int encoA = 5;
int encoB = 6;
int speed = 100; // speed 0-100
double sp = 0.00;
double rpm = 0.00;
volatile long encount = 0;
unsigned long Ltime = 0;
unsigned long Ctime = 0;
unsigned long Ptime = 0;
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);
Serial.begin(9600);
}
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)*2.55;
digitalWrite(enA, HIGH);
digitalWrite(enB, LOW);
if (sped < 0) {
Serial.print("back ");
analogWrite(pwm1, sp);
analogWrite(pwm2, 0);
} else {
Serial.print("forward ");
analogWrite(pwm1, 0);
analogWrite(pwm2, sp);
}
Serial.println(sp);
}
void loop() {
move(speed);
delay(1000);
readenc();
move(0);
resetenc();
delay(1000);
readenc();
move(-speed);
delay(1000);
readenc();
}
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