https://github.com/lemonpi/wheelencoders
Arduino library for 2 wheel encoders (rotary or optical)
https://github.com/lemonpi/wheelencoders
Last synced: 10 months ago
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Arduino library for 2 wheel encoders (rotary or optical)
- Host: GitHub
- URL: https://github.com/lemonpi/wheelencoders
- Owner: LemonPi
- Created: 2017-10-31T20:10:44.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2017-10-31T20:11:01.000Z (over 8 years ago)
- Last Synced: 2025-01-03T13:52:22.990Z (over 1 year ago)
- Language: C++
- Size: 1000 Bytes
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
## Arduino library for encoders (rotary or optical) for two wheels
Two ways to use this:
1. Drop directory directly inside sketch
or
1. Move directory under Arudino libraries directory
2. In Arduino IDE with sketch open select Sketch > Include Library > WheelEncoder (should be under Contributed Libraries)
## Usage
```c++
#include
#include "WheelEncoders.h"
// pins 2 and 3 are outputs from the encoder into the Arduino
// these are special Arduino pins (for Uno and Mega, other platforms may have different)
// see https://www.arduino.cc/en/Reference/AttachInterrupt for the interrupt pins
constexpr auto LEFT_INTERRUPT_PIN = 2;
constexpr auto RIGHT_INTERRUPT_PIN = 3;
void setup() {
WheelEncoders::setUp(LEFT_INTERRUPT_PIN, RIGHT_INTERRUPT_PIN);
// for printing out the ticks
Serial.begin(9600);
}
void loop() {
// retrieve instantaneous ticks because ticks could occur during code execution
const auto leftTicks = WheelEncoders::getLeftTicks();
const auto rightTicks = WheelEncoders::getRightTicks();
// when either tick is above a certain amount
if (leftTicks > 1000 || rightTicks > 1000) {
// reset ticks so we start accumulating from 0 for both sides
WheelEncoders::clear();
}
// print through serial
Serial.print(leftTicks);
Serial.print(" ");
Serial.println(rightTicks);
// wait a second for next print
// note that interrupts are triggered even when we're waiting
delay(1000);
}
```
## Limitations
- Calling `setUp` occupies two interrupt pins
- Variable names and 2 encoders most suitable for a differentially steered robot