DC geared motor with encoder

Other Hardware Robotics
1

Hi!!

I have to run a DC geared motor with an encoder and get the feedback of the postion/ number of rotations.
I am using a L298N Dual H-Bridge to run the motor and found some pieces of codes on the net to get something out the encoder but the problem is that I get some false results, for example : after measuring the rotations I can easily see that the motor have turned one time and less than a half and the monitor shows 2250 pulses and for my case i have 810 pulses per main shaft revolution wich gives me 2.77 rotations...

Links :

Attached :

  • schematic
  • Arduino code i am using

Any help will be appreciated!

Thanks

Cheikhna

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sketch_apr30a.ino (1.74 KB)

2

Your encoder outputs are to pins 2 and 3. Why do you read the state o pins 9 and 10 when they fire.

Please post your code inline with code tags like this. More peoiple will look at it.

const int interuptG = 0;
const int interuptD = 1;  
const int canalBG   = 9;  
const int canalBD   = 10; 
int set1 = 6;
int set2 = 7;
int enable = 5;

void Reagir();
void ReagirBis();


long comptD = 0;
long comptG = 0;
//double tourGauche = comptG/1620.0;
//double tourDroite = comptD/1620.0;




void setup()
{
  // Permet un affichage du résultat sur la consol Série
  Serial.begin(9600);   

  pinMode(set1, OUTPUT);
  pinMode(set2, OUTPUT);
  pinMode(enable, OUTPUT);

  pinMode(canalBG, INPUT);  
  pinMode(canalBD, INPUT);

  // Déclaration des intéruptions
  // Ici les fonctions d'intéruptions s'éxecutent
  // sur fronts montants : RISING
  attachInterrupt(interuptG, Reagir, RISING);
  attachInterrupt(interuptD, ReagirBis, RISING);
}

void loop()
{
  delay(4000);
  avancer();
  Serial.print("Tour Gauche");
  Serial.print(comptG); 
  arreter();
  reculer();
  Serial.print("   Tour droite");
  Serial.println(comptD);
  arreter();
  comptD=0;
  comptG=0;
}

void Reagir()
{  
  if(digitalRead(canalBG) == HIGH)
  {
    comptG--;        
  }
  else
  {
    comptG++;      
  }      
}
void avancer() 
{      
    
       digitalWrite(set1, LOW); 
       digitalWrite(set2, HIGH);
     
       analogWrite(enable, 255);
       delay(5000);
      
       digitalWrite(set1, LOW); 
       digitalWrite(set2, LOW);
       
       
      
       
}
void reculer()
{
       digitalWrite(set1, HIGH); 
       digitalWrite(set2, LOW);
       analogWrite(enable, 255);
        delay(5000);
      

       digitalWrite(set1, LOW); 
       digitalWrite(set2, LOW);
}
void arreter()
{
  digitalWrite(set1, LOW); 
  digitalWrite(set2, LOW);
  delay(5000);
}
void ReagirBis()
{     
  if(digitalRead(canalBD) == HIGH)
  {
    comptD ++;
  }
  else
  {
    comptD--;     
  }
}

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