Tutorial 4

tut4.ino

int potentiometerPin = A0;
int sensorPin1 = 3;
int sensorPin2 = 2;
long potentiometerValue = 0;
int sensor1Value = 0;
int sensor2Value = 0;
volatile long position;

void setup() {
  // Set up internal pull up resistor for pin
  pinMode(sensorPin1, INPUT_PULLUP);
  pinMode(sensorPin2, INPUT_PULLUP);
  pinMode(sensorPin1, HIGH);
  pinMode(sensorPin2, HIGH);
  attachInterrupt(0, encoderA, CHANGE);
  attachInterrupt(1, encoderB, CHANGE);
  Serial.begin(1200);
}

void loop() {
  potentiometerValue = analogRead(potentiometerPin);
  sensor1Value = analogRead(sensorPin1);
  sensor2Value = analogRead(sensorPin2);
  Serial.print(3600 * potentiometerValue / 1024);
  Serial.print(" ");
  Serial.print(3600 * position / 1024);
  Serial.println(" ");
}

void encoderA() // encoder service routine
{
  int A = digitalRead(sensorPin1);
  int B = digitalRead(sensorPin2);
  if ((A == 1 && B == 0) || (A == 0 && B == 1)) position++;
  if ((A == 1 && B == 1) || (A == 0 && B == 0)) position--;
}

void encoderB() // encoder service routine
{
  int A = digitalRead(sensorPin1);
  int B = digitalRead(sensorPin2);
  if ((A == 1 && B == 0) || (A == 0 && B == 1)) position--;
  if ((A == 1 && B == 1) || (A == 0 && B == 0)) position++;
}