i made this, but it doesnt seem to be working, could you please let me know whats wrong with it
/* Rotary encoder with attachInterrupt
Counts pulses from an incremental encoder and put the result in variable counter.
Taking also into account the direction and counts down when the rotor rotates in
the other direction.
This code is used attachInterrupt 0 and 1 which are pins 2 and 3 moust Arduino.
For more information about attachInterrupt see:
http://arduino.cc/en/Reference/AttachInterrupt
created 2014
by Ben-Tommy Eriksen
*/
// Encoder connect to digitalpin 2 and 3 on the Arduino.
#include <SPI.h>
#include <TMC26XStepper.h>
TMC26XStepper tmc26XStepper = TMC26XStepper(200,6,4,5,800);
int curr_step;
int speed = 0;
int speedDirection = 100;
int maxSpeed = 1000;
volatile unsigned int counter = 0; //This variable will increase or decrease depending on the rotation of encoder
void setup() {
Serial.begin (9600);
pinMode(2, INPUT); // set pin to input
pinMode(3, INPUT); // set pin to input
digitalWrite(2, HIGH); // turn on pullup resistors
digitalWrite(3, HIGH); // turn on pullup resistors
//Setting up interrupt
//A rising pulse from encodenren activated ai0(). AttachInterrupt 0 is DigitalPin nr 2 on moust Arduino.
attachInterrupt(0, ai0, RISING);
//B rising pulse from encodenren activated ai1(). AttachInterrupt 1 is DigitalPin nr 3 on moust Arduino.
attachInterrupt(1, ai1, RISING);
Serial.println("==============================");
Serial.println("TMC26X Stepper Driver Demo App");
Serial.println("==============================");
//set this according to you stepper
Serial.println("Configuring stepper driver");
//char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement
tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0);
tmc26XStepper.setRandomOffTime(0);
tmc26XStepper.setMicrosteps(128);
tmc26XStepper.setStallGuardThreshold(4,0);
Serial.println("config finished, starting");
Serial.println("started");
}
void loop() {
// Send the value of counter
Serial.println (counter);
}
void ai0() {
// ai0 is activated if DigitalPin nr 2 is going from LOW to HIGH
// Check pin 3 to determine the direction
if(digitalRead(3)==LOW) {
counter++;
if (counter++){
if (speed>maxSpeed) {
speed = maxSpeed;
speedDirection = -speedDirection;
} else if (speed<0) {
speedDirection = -speedDirection;
speed=speedDirection;
}
//setting the speed
Serial.print("setting speed to ");
Serial.println(speed);
tmc26XStepper.setSpeed(speed);
//we want some kind of constant running time - so the length is just a product of speed
Serial.print("Going ");
Serial.print(10speed);
Serial.println(" steps");
tmc26XStepper.step(10speed);
}else{
counter--;
}
tmc26XStepper.move();
}
void ai1() {
// ai0 is activated if DigitalPin nr 3 is going from LOW to HIGH
// Check with pin 2 to determine the direction
if(digitalRead(2)==LOW) {
counter--;
}else{
counter++;
}
}