few code modification:
int E1 = 5; //Right Motor Power
int E2 = 6; //Left Motor Power
int M1 = 4; //Right Motor Direction
int M2 = 7; //Left Motor Direction
const byte encoder0pinA = 2; //Interrupt 0
const byte encoder0pinB = 12;
const byte encoder1pinA = 3; //Interrupt 1
const byte encoder1pinB = 13;
byte overflow;
byte encoder0PinALast;
byte encoder1PinALast;
int duration0;//Encoder0 number of pulses
int duration00;
int duration1;//Encoder1 number of pulses
int duration11;
boolean Direction0;
boolean Direction1;
int SetPoint = 0; // 0 would be straight ahead
double Kp = 25; // needs tunning
int error = 0;
int speed = 100; // set the speed of which the vechicle should move
int output = 0;
void setup()
{
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
Serial.begin(9600);//Initialize the serial port
EncoderInit();//Initialize the module
timer_init();
}
void loop()
{
// Serial.print("Left Pulse:");
// Serial.println(duration00);
// Serial.print("Right Pulse:");
// Serial.println(duration11);
digitalWrite(M1,LOW); //Forward
digitalWrite(M2,LOW);
delay(1500);
digitalWrite(M1,HIGH); //Backwards
digitalWrite(M2,HIGH);
delay(1500);
speed = 0; //STOP!!!!!!
Kp = 0;
delay(4000);
speed = 100;
Kp = 25;
}
ISR(TIMER1_OVF_vect)
{
overflow++;
if(overflow>=10)
{
Preg(duration0, duration1);
duration00=duration0;
duration0=0;
duration11=duration1;
duration1=0;
overflow=0;
}
}
void Preg(int SpeedL, int SpeedR)
{
noInterrupts(); // Disable interrupts, no need to slow down the P regulator
error = ((SpeedL-SpeedR)-SetPoint);
output = (Kp*error);
if(error >= 0) // its turning left of the setpoint, reduce E1 (right motor)
{
analogWrite(E2, speed);
analogWrite(E1, (speed-output)); // Subtract the error value multiplied by Kp from E1
}
if(error < 0) // turning right of our setpoint, reduce E0
{
analogWrite(E2, (speed+output)); // This time we add the error since its negative
analogWrite(E1, speed);
}
interrupts(); //Enable interrupts again
}
void timer_init(void)
{
TIMSK1 |= (1<<TOIE1); // Enable Timer1 overflow interrupt at 16MHz = 16 000 000 / 2^16 = 244Hz
}
void EncoderInit()
{
Direction0 = true;
Direction1 = true;
pinMode(encoder0pinB,INPUT);
attachInterrupt(0, wheelSpeed0, CHANGE);
pinMode(encoder1pinB,INPUT);
attachInterrupt(1, wheelSpeed1, CHANGE);
}
void wheelSpeed0()
{
//Encoder 0 Code
int Lstate = digitalRead(encoder0pinA);
if((encoder0PinALast == LOW) && Lstate==HIGH)
{
int val0 = digitalRead(encoder0pinB);
if(val0 == LOW && Direction0)
{
Direction0 = false; //Reverse
}
else if(val0 == HIGH && !Direction0)
{
Direction0 = true; //Forward
}
}
encoder0PinALast = Lstate;
if(!Direction0) duration0++;
else duration0++;
}
void wheelSpeed1()
{
//Encoder 1 Code
int Lstate1 = digitalRead(encoder1pinA);
if((encoder1PinALast == LOW) && Lstate1==HIGH)
{
int val1 = digitalRead(encoder1pinB);
if(val1 == LOW && Direction1)
{
Direction1 = false; //Reverse
}
else if(val1 == HIGH && !Direction1)
{
Direction1 = true; //Forward
}
}
encoder1PinALast = Lstate1;
if(!Direction1) duration1++;
else duration1++;
}
