arduino 旋轉(zhuǎn)編碼器教程

ID:234053 · 發(fā)表于 2018-1-31 16:29

我們使用的旋轉(zhuǎn)編碼器時(shí)序?yàn)?/font>
                  → CW(順時(shí)針)
A -----------          --------------  HIGH
               ----------                   LOW

                  ← CCW(逆時(shí)針)
B  --------          ------------------  HIGH
            ----------                      LOW

ENA腳下降沿觸發(fā)時(shí)查詢B腳的電平，若為低電平時(shí)，由時(shí)序圖可知為順時(shí)針方向旋轉(zhuǎn)(CW)，Position增加1
而ENA腳上升沿觸發(fā)時(shí)查詢B腳的電平，若為高電平時(shí)，由時(shí)序圖可知為順時(shí)針方向旋轉(zhuǎn)(CW)，Position已增加1，故此時(shí)我們不再考慮
ENA腳下降沿觸發(fā)時(shí)查詢B腳的電平，若為高電平時(shí)，由時(shí)序圖可知為逆時(shí)針方向旋轉(zhuǎn)(CCW)，Position減少1
而ENA腳上升沿觸發(fā)時(shí)查詢B腳的電平，若為低電平時(shí)，由時(shí)序圖可知為逆時(shí)針方向旋轉(zhuǎn)(CCW)，Position已減少1，故此時(shí)我們不再考慮

編碼器模塊已設(shè)置了對ENA ENB的上拉以及按鍵SW的上拉
將ENA ENB SW依次連接到傳感器擴(kuò)展板或者Arduino主控板的數(shù)字腳2、3、4上
VCC GND依次連接到+5V和GND上
下載運(yùn)行代碼，打開串口監(jiān)視器Serial Monitor
旋轉(zhuǎn)編碼器可看到順時(shí)針旋轉(zhuǎn)時(shí)旋轉(zhuǎn)過一個(gè)編碼點(diǎn)后數(shù)值會增加1
逆時(shí)針旋轉(zhuǎn)則相應(yīng)減少1
按下按鍵時(shí)旋轉(zhuǎn)編碼器模塊板載的LED會被點(diǎn)亮，同時(shí)串口監(jiān)視器中會顯示"Switch Pressed"

/*
  RotaryEncoder

  Read a rotary encoder with interrupts
  Read the press action with digitalread
  Encoder&Switch hooked up with common to +5V
  ENCODER_A_PIN to pin 2
  ENCODER_A_PIN to pin 3
  SWITCH_PIN to pin 4

  Published by ArduinoCN&OpenJumper.For surport
  materials and a full range of system boards &
  periphrals please visit :
            http://www.arduino.cn
         http://www.openjumper.com
  created & modified 15 Dec 2012
  by i3water
*/

#define ENCODER_A_PIN 2
#define ENCODER_B_PIN 3
#define SWITCH_PIN 4
long position;

void setup(){
  //setup our pins 初始化我們的需要的引腳
  pinMode(ENCODER_A_PIN, INPUT);
  pinMode(ENCODER_B_PIN, INPUT);
  pinMode(SWITCH_PIN, INPUT);

  attachInterrupt(0, read_quadrature, CHANGE);

  //setup our serial 初始化Arduino串口
  Serial.begin(9600);
}

void loop(){
if (digitalRead(SWITCH_PIN) == LOW){
   delay(10);
   if (digitalRead(SWITCH_PIN) == LOW){
   Serial.println("Switch Pressed");
   }
}
Serial.print("Position: ");
Serial.println(position, DEC);
delay(1000);
}

void read_quadrature(){
  // found a low-to-high on channel A ENA腳下降沿中斷觸發(fā)
  if (digitalRead(ENCODER_A_PIN) == LOW){
// check channel B to see which way 查詢ENB的電平以確認(rèn)是順時(shí)針還是逆時(shí)針旋轉(zhuǎn)
if (digitalRead(ENCODER_B_PIN) == LOW)
   position++;
  }
  // found a high-to-low on channel A ENA腳上升沿中斷觸發(fā)
  else{
// check channel B to see which way 查詢ENB的電平以確認(rèn)是順時(shí)針還是逆時(shí)針旋轉(zhuǎn)
if (digitalRead(ENCODER_B_PIN) == LOW)
   position--;
  }
}

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arduino 旋轉(zhuǎn)編碼器教程

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