How to add Interrupts to a code

Projects Programming
1

I am using a code for a gear motor, during the rotations, missing some revolutions in it, would someone help me to add an interrupt to it that I don't miss reading from the hall sensor

I want to get the accurate angles from the motor

Cheers

//Define pin setup
#define motor_in1 7
#define motor_in2 8
#define motor_enA 9

volatile int half_revolutions = 0;
int revolutions_per_pos;

int pos = 0;

void setup() {
// Set pin mode
pinMode(motor_enA, OUTPUT);
pinMode(motor_in1, OUTPUT);
pinMode(motor_in2, OUTPUT);

Serial.begin(115200);

// Hallsensor connected to the interrupt pin (Pin 2 on Arduino Uno)
attachInterrupt(0, magnet_detect, RISING);
}

void loop() {
// Run full cycle to each position and back to 0

revolutions_per_pos=706;
move_amount(1);
pos = 1;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-1);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos=706;
move_amount(2);
pos = 2;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-2);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(3);
pos = 3;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-3);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(1);
pos = 4;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-1);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(2);
pos = 5;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-2);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-3);
pos = 6;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(3);
pos = 0;
Serial.print(pos);
delay(2000);

}

void magnet_detect() {
half_revolutions++;
}

void move_amount(int no_pos) {
half_revolutions = 0;
if (no_pos < 0) {
// Set rotation direction
digitalWrite(motor_in1, HIGH);
digitalWrite(motor_in2, LOW);
no_pos *= -1;
}
else {
// Set rotation direction
digitalWrite(motor_in1, LOW);
digitalWrite(motor_in2, HIGH);
}

while (half_revolutions < (no_pos * (2 * revolutions_per_pos))) {
Serial.println(half_revolutions);
analogWrite(motor_enA, 100);
}
analogWrite(motor_enA, 0);
}

2 
ISR(INT0_vect) {
  // interrupt code here.
}
3

Would you please mention where I have to add this line exactly

4

Awais-1:
Would you please mention where I have to add this line exactly

it should be a function above or below or in between your setup() function and your loop() function. In short it can be anywhere it is not part of something else.

5

It's giving me error would can you help me in it

//Define pin setup
#define motor_in1 7
#define motor_in2 8
#define motor_enA 9

volatile int half_revolutions = 0;
int revolutions_per_pos;

int pos = 0;
ISR(INT0_vect) {
// interrupt code here.
}
void setup() {
// Set pin mode
pinMode(motor_enA, OUTPUT);
pinMode(motor_in1, OUTPUT);
pinMode(motor_in2, OUTPUT);

Serial.begin(115200);

// Hallsensor connected to the interrupt pin (Pin 2 on Arduino Uno)
attachInterrupt(0, magnet_detect, RISING);

}

void loop() {
// Run full cycle to each position and back to 0
ISR(INT0_vect) {
// interrupt code here.
}

revolutions_per_pos=706;
move_amount(1);
pos = 1;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-1);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos=706;
move_amount(2);
pos = 2;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-2);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(3);
pos = 3;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-3);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(1);
pos = 4;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-1);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(2);
pos = 5;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-2);
pos = 0;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(-3);
pos = 6;
Serial.print(pos);
delay(2000);

revolutions_per_pos= 706;
move_amount(3);
pos = 0;
Serial.print(pos);
delay(2000);

}

void magnet_detect() {
half_revolutions++;
}

void move_amount(int no_pos) {
half_revolutions = 0;
if (no_pos < 0) {
// Set rotation direction
digitalWrite(motor_in1, HIGH);
digitalWrite(motor_in2, LOW);
no_pos *= -1;
}
else {
// Set rotation direction
digitalWrite(motor_in1, LOW);
digitalWrite(motor_in2, HIGH);
}

while (half_revolutions < (no_pos * (2 * revolutions_per_pos))) {
Serial.println(half_revolutions);
analogWrite(motor_enA, 100);
}
analogWrite(motor_enA, 0);
}

6 
//Define pin setup
#define motor_in1 7
#define motor_in2 8
#define motor_enA 9

volatile int half_revolutions = 0;
int revolutions_per_pos;

int pos = 0;
ISR(INT0_vect) {
  // interrupt code here.
}
void setup() {
  // Set pin mode
  pinMode(motor_enA, OUTPUT);
  pinMode(motor_in1, OUTPUT);
  pinMode(motor_in2, OUTPUT);

  Serial.begin(115200);

  // Hallsensor connected to the interrupt pin (Pin 2 on Arduino Uno)
  //attachInterrupt(0, magnet_detect, RISING);

}

void loop() {
  // Run full cycle to each position and back to 0


  revolutions_per_pos = 706;
  move_amount(1);
  pos = 1;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-1);
  pos = 0;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(2);
  pos = 2;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-2);
  pos = 0;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(3);
  pos = 3;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-3);
  pos = 0;
  Serial.print(pos);
  delay(2000);


  revolutions_per_pos = 706;
  move_amount(1);
  pos = 4;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-1);
  pos = 0;
  Serial.print(pos);
  delay(2000);


  revolutions_per_pos = 706;
  move_amount(2);
  pos = 5;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-2);
  pos = 0;
  Serial.print(pos);
  delay(2000);



  revolutions_per_pos = 706;
  move_amount(-3);
  pos = 6;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(3);
  pos = 0;
  Serial.print(pos);
  delay(2000);

}

/*void magnet_detect() {
  half_revolutions++;
}*/

void move_amount(int no_pos) {
  half_revolutions = 0;
  if (no_pos < 0) {
    // Set rotation direction
    digitalWrite(motor_in1, HIGH);
    digitalWrite(motor_in2, LOW);
    no_pos *= -1;
  }
  else {
    // Set rotation direction
    digitalWrite(motor_in1, LOW);
    digitalWrite(motor_in2, HIGH);
  }

  while (half_revolutions < (no_pos * (2 * revolutions_per_pos))) {
    Serial.println(half_revolutions);
    analogWrite(motor_enA, 100);
  }
  analogWrite(motor_enA, 0);
}
7

Thanks manage it somehow, sorry I am really bad in programming

8

As I setting up an actual ISR pointing at an AVR vector isn't Arduino language, I have fixed your code using the attachInterrupt()....

//Define pin setup
#define motor_in1 7
#define motor_in2 8
#define motor_enA 9
#define sensorPin 2

volatile int half_revolutions = 0;
int revolutions_per_pos;

int pos = 0;

void setup() {
  // Set pin mode
  pinMode(motor_enA, OUTPUT);
  pinMode(motor_in1, OUTPUT);
  pinMode(motor_in2, OUTPUT);

  Serial.begin(115200);

  // Hallsensor connected to the interrupt pin (Pin 2 on Arduino Uno)
  attachInterrupt(digitalPinToInterrupt(sensorPin), magnet_detect, RISING);// attachInterrupt(digitalPinToInterrupt(pin), ISR, mode);

}

void loop() {
  // Run full cycle to each position and back to 0


  revolutions_per_pos = 706;
  move_amount(1);
  pos = 1;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-1);
  pos = 0;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(2);
  pos = 2;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-2);
  pos = 0;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(3);
  pos = 3;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-3);
  pos = 0;
  Serial.print(pos);
  delay(2000);


  revolutions_per_pos = 706;
  move_amount(1);
  pos = 4;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-1);
  pos = 0;
  Serial.print(pos);
  delay(2000);


  revolutions_per_pos = 706;
  move_amount(2);
  pos = 5;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(-2);
  pos = 0;
  Serial.print(pos);
  delay(2000);



  revolutions_per_pos = 706;
  move_amount(-3);
  pos = 6;
  Serial.print(pos);
  delay(2000);

  revolutions_per_pos = 706;
  move_amount(3);
  pos = 0;
  Serial.print(pos);
  delay(2000);

}

void magnet_detect() {
  half_revolutions++;
}

void move_amount(int no_pos) {
  half_revolutions = 0;
  if (no_pos < 0) {
    // Set rotation direction
    digitalWrite(motor_in1, HIGH);
    digitalWrite(motor_in2, LOW);
    no_pos *= -1;
  }
  else {
    // Set rotation direction
    digitalWrite(motor_in1, LOW);
    digitalWrite(motor_in2, HIGH);
  }

  while (half_revolutions < (no_pos * (2 * revolutions_per_pos))) {
    Serial.println(half_revolutions);
    analogWrite(motor_enA, 100);
  }
  analogWrite(motor_enA, 0);
}
9

:slight_smile: Thanks so much for helping me

10

I have a problem here in the coding, the revolutions I have mention in the programming and the pulses I am reading from oscilloscope are different, for the clockwise, it is 1491 and for the counter-clockwise is 1451. I am comparing the data now I can't compare it because it is not correct, Can you help me with it