Форум arduino.ua

/* Encoder Library - Basic Example
 * http://www.pjrc.com/teensy/td_libs_Encoder.html
 *
 * This example code is in the public domain.
 */

//#define MAX_SIGNAL  2300
// #define NETRUAL     1400
// #define MIN_SIGNAL  400


#define MAX_SIGNAL  2000
#define NETRUAL     1500
#define MIN_SIGNAL  1000

#include <Encoder.h>
#include <Servo.h>

// Change these two numbers to the pins connected to your encoder.
//   Best Performance: both pins have interrupt capability
//   Good Performance: only the first pin has interrupt capability
//   Low Performance:  neither pin has interrupt capability
Encoder myEnc(2, 3);
//   avoid using pins with LEDs attached

Servo esc;
// int throttlePin = 0;


void setup() {
  esc.attach(9);
  esc.writeMicroseconds ( NETRUAL );
  myEnc.write           ( 50 );

  Serial.begin(9600);
  Serial.println("Start DIIV:");

}

long oldPosition  = 0xFFFF;
long newPosition;
long _PWM  = 0;

#define DEBUG


void loop() {

   long throttle = myEnc.read();
   if ( throttle   < 0      ) { throttle = 0;      myEnc.write ( throttle ); }  
   if ( throttle  > 100   )   { throttle = 100;    myEnc.write ( throttle ); }
   newPosition =  throttle;

   if ( newPosition != oldPosition) {
    oldPosition = newPosition;
    throttle = map(newPosition, 0,100, MIN_SIGNAL, MAX_SIGNAL );

    #ifdef DEBUG 
    //----------------------
    Serial.print("encoder: ");
    Serial.print(newPosition);
    //----------------------
    Serial.print(" throttle: ");
    Serial.println(throttle);
    //----------------------
    #endif
    esc.writeMicroseconds(throttle);
   //----------------------
  }
}