SEN0038

  Wheel Encoders for DFRobot 3PA and 4WD Rovers (SKU:SEN0038)   Contents     1 Introduction 1.1 Specification 1.2 Sample Code 2 Assembly Guide 3 FAQ 4 Encoder Schematics Introduction This encoders are designed for DFRobot 3PA and AWD Rovers. It can give you the rotation degree of the wheels. Encoder uses non-contact method to convert the angular displacement signals. Best fit with Micro DC Geared Motor. It includes encoders, plastic tube, paper-mediated gasket etc. Specification Voltage:+5V Current: Digital pin 2 // # right wheel encoder -> Digital pin 3 // # Note: If your controller is not 328-based, please check https://www.ardu ino.cc/en/Reference/AttachInterrupt for proper digital pins. #define LEFT 0 #define RIGHT 1 long coder[2] = { 0,0}; int lastSpeed[2] = { 0,0}; void setup(){ Serial.begin(9600); int the data //init the Serial port to pr attachInterrupt(LEFT, LwheelSpeed, CHANGE); r the digital pin 2 //init the interrupt mode fo attachInterrupt(RIGHT, RwheelSpeed, CHANGE); r the digital pin 3 //init the interrupt mode fo } void loop(){ static unsigned long timer = 0; //print manager timer if(millis() - timer > 100){ Serial.print("Coder value: "); Serial.print(coder[LEFT]); Serial.print("[Left Wheel] "); Serial.print(coder[RIGHT]); Serial.println("[Right Wheel]"); lastSpeed[LEFT] = coder[LEFT]; //record the latest speed value lastSpeed[RIGHT] = coder[RIGHT]; coder[LEFT] = 0; //clear the data buffer coder[RIGHT] = 0; timer = millis(); } } void LwheelSpeed() { coder[LEFT] ++; //count the left wheel encoder interrupts } void RwheelSpeed() { coder[RIGHT] ++; //count the right wheel encoder interrupts } Assembly Guide Step1: Step2: Step3: FAQ Serial monitor Q. The feedback value is full that the Serial monitor is always printing value around 25903 and 25344, no matter of the motor running or not. A. The first parameter in the interrupt function ' attachInterrupt ' means the interrupt number that is just number 0 and 1, not the interrupt pin number.read more Encoder Schematics      Powered By DFRobot © 2008-2016