![]() It has been great fun till I stumbled on getting both the encoder and stepper motor to work together. I have looked at the /Main/RotaryEncoders and have taken bit's to use, study and to try and learn the code. Both the encoder and stepper motor will be fitted to a linear actuator. Then to control a stepper motor with the Arduino Motor Shield using buttons with set amounts of steps in ether direction. * between 00 and 11 or 10 and 01 are invalid and ignored.I want to read the A and B pins from an encoder using interrupts together with an OLED display used as a readout, much like a lathe digital readout. * operations on variables `changes` and `wayflag`. * The ISR in this program decodes those transitions using logical * -> 01 -> 00 -> 10 and decreasing on transitions the other way. * by Anthony Seely shows counts increasing on transitions 10 -> 11 * state-machine picture in a 7:40 PM post at * implementation of rotary encoding for KY-040 rotary knobs. (However, PD0 and PD1 are RX and TX on the Uno I'm testing with, and I'm using Serial for test output.)Įxample: rotors3.ino /* Rotors3 - JW, December 2016 - Uses 4-state state-machine It can be extended to more encoders by adding another pin-change ISR to handle another interrupt vector, or by using PD0 and PD1 as encoder inputs. The example below uses pin-change interrupts to read from three rotary encoders that are attached to PD2.PD7, ie, six consecutive bits of port D. ![]() Using polling to read multiple encoders may work if you program quite carefully and if you dedicate the processor just to reading encoders but generally, interrupt-driven encoder processing has a higher likelihood of working ok. The other two are showing as "1" (that is, not turned yet). I am getting results like this (with 2 encoders connected): 16 -19 1 1 ![]() ![]() The code sets up to detect an interrupt on the "A" side of the encoder and tests the value on the "B" side to see if it was turned clockwise or counter-clockwise. One of the pins needs to be capable of pin-change interrupts (on the Uno that is all of them). 10 encoders) - within reason! You need to have 2 pins spare per encoder (the third pin goes to ground). The code is general enough to handle 1 to x encoders (eg. PCICR |= bit (digitalPinToPCICRbit (encoders. *ICRmaskPort |= bit (digitalPinToPCMSKbit (encoders. Volatile byte * ICRmaskPort = digitalPinToPCMSK (encoders. activate this pin-change interrupt bit (eg. whichInterrupt = digitalPinToPCICRbit (encoders. bBitMask = digitalPinToBitMask (encoders. aBitMask = digitalPinToBitMask (encoders. bPort = portInputRegister (digitalPinToPort (encoders. aPort = portInputRegister (digitalPinToPort (encoders. convert pin number to port, mask, etc. PCIFR |= bit (PCIF0) | bit (PCIF1) | bit (PCIF2) // clear any outstanding interrupts handle pin change interrupt for D0 to D7 here handle pin change interrupt for A0 to A5 here handle pin change interrupt for D8 to D13 here If ((encoderALast = HIGH) & (encoderA = LOW)) // end of if this is the right interrupt number Serial.println(val) // print it in serial monitorīoolean encoderA = digitalRead(encoderPinA) receive the direction for clockwise 1 and for counter clock wise -1 const int encoderPinA = 7 īoolean encoderALast = LOW // remember the previous pin state Any help appreciated.įollowing is the code. I'm supposed to get +1 for clockwise and -1 for counter-clockwise. I'm trying to detect the direction of rotation for an incremental rotary encoder.
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