I am having problems trying to read the quadrature encoder signals from this Polulu motor/encoder: Pololu - 75:1 Metal Gearmotor 25Dx66L mm HP 6V with 48 CPR Encoder (No End Cap) using my Arduino Uno. The motor is connected to a simple circuit consisting of an L293D H-bridge and a potentiometer I use to vary the motor speed. When the motor is used by itself without the encoder, everything works as expected. However, when the encoder is connected, the motor stops working properly. More specifically, the motor just runs at a slow constant speed and stops responding to commands from the potentiometer. The encoder digital outputs are connected to interrupt pins 2 and 3 on the Arduino. What do you think the problem could be? The sketch is provided below:
//Motor variables
#define switchPin 4 // switch input
#define motorPin1 5 // L293D Input 1
#define motorPin2 6 // L293D Input 2
#define speedPin 9 // L293D enable Pin 1
#define potPin 0 // Potentiometer on Analog Pin 0
int Mspeed = 0; // a variable to hold the current speed value
//Encoder variables
#define encoder0PinA 2
#define encoder0PinB 3
volatile unsigned int encoder0Pos = 0;
void setup() {
// Encoder setup
pinMode(encoder0PinA, INPUT); // encoder pin on interrupt 0 (pin 2)
pinMode(encoder0PinB, INPUT); // encoder pin on interrupt 1 (pin 3)
attachInterrupt(0, doEncoderA, CHANGE);
attachInterrupt(1, doEncoderB, CHANGE);
// Motor setup
pinMode(switchPin, INPUT); // set switch pin as INPUT
pinMode(motorPin1, OUTPUT); // set remaining pins as outputs
pinMode(motorPin2, OUTPUT);
pinMode(speedPin, OUTPUT);
// Encoder setup
pinMode(encoder0PinA, INPUT); // encoder pin on interrupt 0 (pin 2)
pinMode(encoder0PinB, INPUT); // encoder pin on interrupt 1 (pin 3)
attachInterrupt(0, doEncoderA, CHANGE);
attachInterrupt(1, doEncoderB, CHANGE);
Serial.begin (9600);
}
void loop() {
Mspeed = analogRead(potPin)/4; // read the speed value from the potentiometer
analogWrite(speedPin, Mspeed); // write speed to Enable 1 pin
if (digitalRead(switchPin)) { // If the switch is HIGH, rotate motor clockwise
digitalWrite(motorPin1, LOW); // set Input 1 of the L293D low
digitalWrite(motorPin2, HIGH); // set Input 2 of the L293D high
}
else { // if the switch is LOW, rotate motor anti-clockwise
digitalWrite(motorPin1, HIGH); // set Input 1 of the L293D low
digitalWrite(motorPin2, LOW); // set Input 2 of the L293D high
}
}
void doEncoderA(){
// look for a low-to-high on channel A
if (digitalRead(encoder0PinA) == HIGH) {
// check channel B to see which way encoder is turning
if (digitalRead(encoder0PinB) == LOW) {
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
else // must be a high-to-low edge on channel A
{
// check channel B to see which way encoder is turning
if (digitalRead(encoder0PinB) == HIGH) {
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
//Serial.println (encoder0Pos, DEC);
// use for debugging - remember to comment out
}
void doEncoderB(){
// look for a low-to-high on channel B
if (digitalRead(encoder0PinB) == HIGH) {
// check channel A to see which way encoder is turning
if (digitalRead(encoder0PinA) == HIGH) {
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
// Look for a high-to-low on channel B
else {
// check channel B to see which way encoder is turning
if (digitalRead(encoder0PinA) == LOW) {
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
}