Hi,
I 'm trying to use a program with 2 attachinterrupt witch work with a Uno.
But it doesn't work at all with the Arduino Due.
I have tried attachinterrupt with input 2,3. and 52, 53.
It's to set speed with a PID algorithm as below
//The sample code for driving one way motor encoder
#include <PID_v1.h>
const byte encoder0pinA = 52;//A pin -> the interrupt pin 0
const byte encoder0pinB = 53;//B pin -> the digital pin 3
int E_left =11; //The enabling of L298PDC motor driver board connection to the digital interface port 5
int M_left =12; //The motor of L298PDC motor driver board connection to the digital interface port 4
int M_right = 13;
byte encoder0PinALast;
double duration,abs_duration;//the number of the pulses
boolean Direction;//the rotation direction
boolean result;
double val_output;//Power supplied to the motor PWM value.
double Setpoint;
double Kp=0.6, Ki=5, Kd=0;
PID myPID(&abs_duration, &val_output, &Setpoint, Kp, Ki, Kd, DIRECT);
void setup()
{
Serial.begin(9600);//Initialize the serial port
pinMode(M_left, OUTPUT); //L298P Control port settings DC motor driver board for the output mode
pinMode(M_right, OUTPUT);
pinMode(E_left, OUTPUT);
Setpoint =80; //Set the output value of the PID
myPID.SetMode(AUTOMATIC);//PID is set to automatic mode
myPID.SetSampleTime(5);//Set PID sampling frequency is 100ms
EncoderInit();//Initialize the module
}
void loop()
{
advance();//Motor Forward
abs_duration=abs(duration);
result=myPID.Compute();//PID conversion is complete and returns 1
if(result)
{
Serial.print("Pulse: ");Serial.println(duration);
Serial.print("Pulse: ");Serial.println(duration);
duration = 0; //Count clear, wait for the next count
Serial.print("val_output"); Serial.println(val_output);// TENSION in MOTOR TO REGULATE SPEED with SETPOINT
Serial.print("Setpoint"); Serial.println(Setpoint);
Serial.print("Direction"); Serial.println(Direction);
Serial.print("Result"); Serial.println(result);
}
}
void EncoderInit()
{
Direction = true;//default -> Forward
pinMode(encoder0pinB,INPUT);
attachInterrupt(0, wheelSpeed, CHANGE);
}
void wheelSpeed()
{
int Lstate = digitalRead(encoder0pinA);
if((encoder0PinALast == LOW) && Lstate==HIGH)
{
int val = digitalRead(encoder0pinB);
if(val == LOW && Direction)
{
Direction = false; //Reverse
}
else if(val == HIGH && !Direction)
{
Direction = true; //Forward
}
}
encoder0PinALast = Lstate;
if(!Direction) duration++;
else duration--;
}
void advance()//Motor Forward
{
digitalWrite(M_left,LOW);
digitalWrite(M_right,HIGH);
analogWrite(E_left,val_output);
}
void back()//Motor reverse
{
digitalWrite(M_left,HIGH);
digitalWrite(M_right,LOW);
analogWrite(E_left,val_output);
}
void Stop()//Motor stops
{
digitalWrite(E_left, LOW);
}
Thanks