LailaTheElf/rotoryEncoder
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This commit is contained in:
Mats van Reenen 2021-01-05 13:26:08 +01:00
parent 3f5712ec7a
commit d2d1b28d83
1 changed files with 46 additions and 10 deletions
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56
rotoryEncoder.ino
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@ -3,10 +3,17 @@
#define ANALOGOUT_PIN 11
#define HOMESW_PIN 10
#define NUMOFTEATH 360
#define DEGPERSTAP 3600/(NUMOFTEATH*2)
#define DEBUG
#define DEBUG_CW
#define DEBUG_A
int16_t angle = 0;
#define NUM_OF_TEATH 360*2 // number of teath times 2
#define MAX_RPS 1 // max rotation per second
#define DEG_STAP 3600/NUM_OF_TEATH // degrees per step time 10
#define MIN_STAP_TIME MAX_RPS/NUM_OF_TEATH // minimum time between staps in ms
uint32_t lastStap = 0; // last time of a stap
int16_t angle = 1800; // curent angle times 10
/** setPWM
* set the pwm dutycyle
@ -18,13 +25,30 @@ void setPWM(uint8_t value){
}
void sens0(){
if(digitalRead(SENS0_PIN) != digitalRead(SENS1_PIN)){
angle += DEGPERSTAP * 10;
if(digitalRead(SENS0_PIN) != digitalRead(SENS1_PIN)
&& millis() > lastStap + MIN_STAP_TIME){
angle += DEG_STAP;
lastStap = millis();
#ifdef DEBUG_CW
Serial.print("\t+");
Serial.println(angle);
// }else{
// Serial.println("CCW2");
#endif
}
}
void sens1(){
if(digitalRead(SENS0_PIN) != digitalRead(SENS1_PIN)){
angle -= DEGPERSTAP * 10;
if(digitalRead(SENS0_PIN) != digitalRead(SENS1_PIN)
&& millis() > lastStap + MIN_STAP_TIME){
angle -= DEG_STAP;
lastStap = millis();
#ifdef DEBUG_CW
Serial.print("\t-");
Serial.println(angle);
// }else{
// Serial.println("CW2");
#endif
}
}
@ -34,7 +58,7 @@ void setup(){
// setup analog out
pinMode(ANALOGOUT_PIN, OUTPUT);
TCCR2A = _BV(COM2A1) | _BV(WGM20);
TCCR2B = _BV(CS22);
TCCR2B = _BV(CS20);
setPWM(0);
// setup rotory sensor
@ -42,11 +66,19 @@ void setup(){
pinMode(SENS1_PIN, INPUT);
attachInterrupt(digitalPinToInterrupt(SENS0_PIN), sens0, CHANGE);
attachInterrupt(digitalPinToInterrupt(SENS1_PIN), sens1, CHANGE);
#ifdef DEBUG
Serial.begin(115200);
Serial.println("rotoryEncoder by MReenen");
Serial.print("deg per step: ");
Serial.println(DEG_STAP, DEC);
#endif
}
void loop(){
// delay while checking the home sw
for(uint8_t i = 200; i != 0; i--){
for(uint16_t i = 65000; i != 0; i--){
if(digitalRead(HOMESW_PIN) == LOW){
angle = 0;
}
@ -58,7 +90,11 @@ void loop(){
else if(angle < 0)
angle += 3600;
#ifdef DEBUG_A
Serial.println(angle);
#endif
// update PWM
uint16_t a = angle;
setPWM(map(a, 0, 360, 0, 255));
setPWM(map(a, 0, 3600, 0, 255));
}