1° Forum di Astronomia Amatoriale Italiano

#define encoderPinA 2
#define encoderPinB 3
volatile int encoderCount = 0;
volatile float angle = 0;
volatile float angle_previous = 0;
volatile float angle_post = 0;

void doEncoderA(){  // interrupt 0 function
  if (digitalRead(encoderPinA) == HIGH) {  // look for a low-to-high on channel A
    if (digitalRead(encoderPinB) == LOW) { // check channel B to see which way encoder is turning
      encoderCount = encoderCount + 1;
    }
    else {
      encoderCount = encoderCount - 1;
    }
  }
  else {                                     // must be a high-to-low edge on channel A
    if (digitalRead(encoderPinB) == HIGH) { // check channel B to see which way encoder is turning 
      encoderCount = encoderCount + 1;
    }
    else {
      encoderCount = encoderCount - 1;
    }
  }
  angle = 0.00105*encoderCount;  // unit: radian
}

void doEncoderB(){  // interrupt 1 function
  if (digitalRead(encoderPinB) == HIGH) {   // look for a low-to-high on channel B
    if (digitalRead(encoderPinA) == HIGH) { // check channel A to see which way encoder is turning
      encoderCount = encoderCount + 1;
    }
    else {
      encoderCount = encoderCount - 1;
    }
  }
  else {                                    // must be a high-to-low edge on on channel B
    if (digitalRead(encoderPinA) == LOW) { // check channel B to see which way encoder is turning
      encoderCount = encoderCount + 1;
    }
    else {
      encoderCount = encoderCount - 1;
    }
  }
  angle = 0.00105*encoderCount;  // unit: radian
}

void setup() {

  pinMode(encoderPinA, INPUT);
  pinMode(encoderPinB, INPUT);
  attachInterrupt(0, doEncoderA, CHANGE); 
  attachInterrupt(1, doEncoderB, CHANGE); 
 
  Serial.begin (9600); // for debugging
}

void loop() {
  Serial.print("counter: ");
  Serial.print(encoderCount, DEC);
  Serial.print(" - ");
  Serial.print("angle: ");
  Serial.print(angle, 4);
  Serial.println(";");
  delay(500);
}