Описание библиотеки encoder h
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The playground is a publicly-editable wiki about Arduino. Board Setup and Configuration. Arduino on other Chips. Sources for Electronic Parts. Related Hardware and Initiatives. A rotary or 'shaft' encoder is an angular measuring device. It is used to precisely measure rotation of motors or to create wheel controllers knobs that can turn infinitely with no end stop like a potentiometer has. Some of them are also equipped with a pushbutton when you press on the axis like the ones used for navigation on many music controllers. They come in all kinds of resolutions, from maybe 16 to at least steps per revolution, and cost from 2 to maybe EUR. The following sketch demonstrates how an encoder is read. It simply updates a counter encoder0Pos every time the encoder turns by one step, and sends it via serial to the PC. Note that the above code is not high performance. It is merely for demonstration purposes. It could miss reads with encoders with higher resolution, or when it rotates very quickly think: I learned about how to read the encoder from the file encoder. Thanks to its author, Pascal Stang, for the friendly and newbie-proof explanation of the functionings of encoders there. This might make it a little more clear how the code above works. One disadvantage of the code above is that it is really only counting one fourth of the possible transitions. In the case of the illustration, either the red or the lime green transitions, depending on which way the encoder is moving. Utilizes any of the ATmegaP pins via the PinChangeInt library. The AdaEncoder library was created for working with basic 2-pin quadrature encoders such as the following: This library interfaces with 2-pin encoders 2 pins A and B, then a common pin C. It does not indicate every state change, rather, it reports only when the decoder is turned from one detent position to the next. It is interrupt-driven and designed to be fast and easy to use. The library is designed to be easy to use it bears repeating: Encoder a is connected to pins 2 and 3, b is connected to 5 and Below is some code that uses an interrupt. When the Arduino sees a change on the A channel, it immediately skips to the 'doEncoder' function, which parses out both the low-to-high and the high-to-low edges, consequently counting twice as many transitions. I used the encoder as a 'mode selector' on a synthesizer made solely from an Arduino chip. Where the interrupt method is going to shine is with encoders used for feedback on motors - such as servos or robot wheels. Hence the encoder common pin is connected to ground. You also need to move the other encoder wire over to pin 3 interrupt 1. Careful when using Serial. Print inside an interrupt function, most of the time it will fail, but it works sometimes, the worst of programming bugs. It is documented in a number of places: The code above used 1 interrupt. It read half the resolution by only checking EncoderPin A for position, but it freed up an interrupt pin. An example usage is contained in the class documentation. Although this code claims efficiency gains, note that it uses the digitalRead library functions, which according to http: My project is a data logger where three analogue inputs are sampled each time a rotary encoder pulse steps clockwise. In order to save some processor cycles, I have slightly redesigned the interrupt system to maintain a pair of Boolean states outside of the interrupt loop. The idea is to set a Boolean state for A or B when there is a positive going edge on encoder output A or B. If it is, then A leads B which means a clockwise step increment position counter. If it is, then B leads A, which means a counter-clockwise step decrement position counter. The rest of the code around the improved interrupt routines is just to demonstrate that it works. As I said, I only want to sample when going CW which is forwards on my sampling trolley. When the encoder is going CCW, I just update the counter. You can have fun seeing how far you can rotate your encoder in a second! I have managed nearly steps or 1. There is one issue with the logic in this code. If you are changing direction a lot then you may wish to know that if you change direction in the middle of a step, your counter will not update. This is a half-step hysteresis. Under most circumstances, this is not noticeable or important, but think whether it is important to you! Tighten up the ISRs: Fast encoder reading using just interrupts. Uses both External Interrupt pins, after the initial read, does not read the state of the pins. I tried it on AMT encoder and it work really good. Unlikely, the other methods failed, the counting rate was too fast. Here is the code:. Uses both External Interrupt pins. Based on the Circuits home code. Notice that the Serial. This may change the behavior of the code when those statements are removed as some bounces and even some transitions may be missed if the interrupt routine takes a comparatively long time. You need to choose pins that have Interrupt capability. Uses 1 Interrupt pin but misses half the state transitions. Claims to be fast but uses digitalRead instead of direct port manipulation see http: After try all examples, I think that I have the fastest and working form for the SparkFun Rotary encoder. Only one thing more: IT IS NEEDED TO INSERT A CAPACITOR BETWEEN CENTRAL PAD AND THE PAD B OF THE ENCODER. Uses digitalRead instead of direct port manipulation in the interrupt routines see http: XORing the actual PinB state with the previous PinA state, give us the increase or decrease of the encoder count. Few code lines, full encoder precision and achieve the Arduino max acquisition rate. Using the XOR method, by Bruno Chaparro, above, I put together a demo that drives an LCD bargraph and LED. Pins, left to right: I tried most of the above but found that they do not reliably count steps up and down. Most have trouble with debouncing. While I use all the tricks regarding interrupt usage and efficiency above, I found this one to work best when precision counts However, thanks to Hifiduino I managed to get my encoder working pretty well with a simple bit of software debouncing. The code uses an interrupt to detect any signal change from the encoder, but then waits 2 milliseconds before calculating the encoder position:. This tiny amount of code is focused on keeping the interrupts fast and totally responsible for encoder position. This is an example that supports multiple encoders, and is designed for hand-turned encoders, not motors. This is meant for user interfacing, not hardware monitoring. You need two pins for each encoder, so on a Nano, theoretically, you could put 7 encoders on the digital pins and 3 more on the analog pins with some code rewriting. You might even be able to squeeze one more out of the left over digital and analog pins. I have tested it only with two encoders all I needed , but it worked flawlessly and I turned both at the same time. I could not detect misses through watching the output and feeling the detents tick by. It is good enough for a user interface. If you needed many encoder knobs, you could use a Nano to read in and track the values, and then send the updates to another microcontroller to do something about it. This could be improved by converting it to use PINx to read the values simultaneously instead of digitalRead. It includes a software debouncer. It detects all four states of transition, so every knob turn gets registered. It does not use any external interrupts, which would limit the number of encoders to 1 full read or 2 every other position read. Since we are not using interrupts, the accuracy at speeds faster than hand turning would be awful, the faster it went the worse it would be. The ATmegaP has two different kinds of interrupts: There are only two external interrupt pins, INT0 and INT1 , and they are mapped to Arduino pins 2 and 3. These interrupts can be set to trigger on RISING or FALLING signal edges, or on low level. Most of the sketches and libraries given on this page use one or two of the External Interrupt pins. The interrupt is theoretically very quick because you can set the hardware to tell you how you want the interrupt to trigger. Each pin can have a separate interrupt routine associated with it. They are triggered equally on RISING or FALLING signal edges, so it is up to the interrupt code to determine what happened did the signal rise, or fall? This makes the job of resolving the action on a single interrupt even more complicated. The interrupt routine should be fast, but complication is the enemy of speed. Interrupts disrupt the normal flow of the program. This can be a bit of a curse, although the compiler adds some code for you in order to take away much of the pain of the interrupt. The benefit is that, unlike polling in loop , you have a better chance of getting all the transitions from your device. What if, for example, the Arduino is talking to an I2C device via the Wire library? You may not realize that the I2C library has a busy wait portion in it, which means that your 16MHz processor is busy waiting on a khz serial communication. So if you use polling in loop to check on your rotary encoder, you may miss a quick transition if your code is waiting for a communication to end. This is not an issue with an interrupt, because your rotary encoder will trigger the interrupt routine even if the Wire library is busy in a while loop. For this reason, you should be careful using code that polls a switch in loop on more complicated projects, and understand how long each section of your code will take in worse case scenarios. If your application is speed-critical, know that digitalRead and digitalWrite are relatively slow. Next, we turned on the LED Pin using direct port manipulation, then turned it on using digitalWrite under Arduino and Arduino 1. Now read the LED Pin using direct port manipulation, then read it using digitalWrite under Arduino and Arduino 1. Reading Rotary Encoders ALPS STEC12E07 Encoder. Let me just conclude with:
Reading Rotary Encoders
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