Buenas tardes
tengo un motor DC pololu con encoder
ya lo conecte, utulizo un arduino mega
este es mi codigo:
int input;
#define encoder0PinA 18 // cable amarillo pololu
#define encoder0PinB 19 // cable blanco pololu //cable azul va a 5-12V, cable verde y negro a tierra, cable rojo 12V
volatile int encoder0Pos = 0;
int encoder0dir=0;
void setup() {
pinMode(encoder0PinA, INPUT);
digitalWrite(encoder0PinA, HIGH); // turn on pullup resistor
pinMode(encoder0PinB, INPUT);
digitalWrite(encoder0PinB, HIGH); // turn on pullup resistor
attachInterrupt(4, doEncoder, CHANGE); // encoder pin on interrupt 0 - pin 2
Serial.begin (9600);
Serial.println("start"); // a personal quirk
}
void loop() {}
void doEncoder() {
/* If pinA and pinB are both high or both low, it is spinning
* forward. If they're different, it's going backward.
*
* For more information on speeding up this process, see
* [Reference/PortManipulation], specifically the PIND register.
*/
if (digitalRead(encoder0PinA) == digitalRead(encoder0PinB)) {
encoder0Pos++;
encoder0dir=1;
} else {
encoder0Pos--;
encoder0dir=-1;
}
Serial.println (encoder0Pos, DEC);
}
/* See this expanded function to get a better understanding of the
* meanings of the four possible (pinA, pinB) value pairs:
*/
void doEncoder_Expanded(){
if (digitalRead(encoder0PinA) == HIGH) { // found a low-to-high on channel A
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos - 1; // CCW
}
else {
encoder0Pos = encoder0Pos + 1; // CW
}
}
else // found a high-to-low on channel A
{
if (digitalRead(encoder0PinB) == LOW) { // check channel B to see which way
// encoder is turning
encoder0Pos = encoder0Pos + 1; // CW
}
else {
encoder0Pos = encoder0Pos - 1; // CCW
}
}
Serial.println (encoder0Pos, DEC); // debug - remember to comment out
// before final program run
// you don't want serial slowing down your program if not needed
}
mi problema es que si le doy vueltas manualmente al encoder si lo da correctamente:
pero cuando le meto voltaje al motor, la lectura del encoder se paniquea :s:
que puede ser??
saludos xD
