Форум arduino.ua

long int out = 0;
const byte ledPin = 13;
const byte leftPin = 2;
const byte rightPin = 3;
volatile byte state = LOW;
volatile byte x;
volatile byte a;
volatile byte b;
volatile byte c;
boolean OK=false;
boolean OK1=true;
boolean OK2=false;
void setup() {
DDRB |= (1<<DDB5);//pin 13 is in output mode
DDRD&=~(1<<DDD2);//pin 2 is in input mode
PORTD|=(1<<DDD2);// activate the pull-up resistor 14.2.1 atmega 328 datasheet
PORTD&=~(1<<DDD3);//pin 3 is in input mode
PORTD|=(1<<DDD3);// activate the pull-up resistor 14.2.1 atmega 328 datasheet
attachInterrupt(digitalPinToInterrupt(leftPin), encoder, CHANGE);//call left function when pin 2 is changing state
attachInterrupt(digitalPinToInterrupt(rightPin), encoder1, CHANGE);// call right function when pin 3 is changing state
Serial.begin(250000);
}

void loop() {
if(OK2==false){//just for one time
x=PIND&B00001100;// when the sistem start x takes the pins state
a=PIND&B00001100;// when the sistem start a takes the pins state
OK2=true;
}
digitalWrite(ledPin, state);
//Serial.println(x);
Serial.println(out/380);
// Serial.println(OK);
if (OK1==false)
{
  Serial.println("error");// to appear more time on the serial monitor
}

}

void encoder() 
{
  // function to check the rotate direction when pin 2 is changing state
  cli();// stop interrupts which could appear
  a=PIND&B00001100;// a takes the new state of pins beacuse encoder function is call when pin 2 is changing state
  b=a>>2;// move bits for pin 2 and 3 in the places coressponding to 2^0 and 2^1
  c=b | x;// OR function between b and x
  if(c==2 || c==4 || c==11 || c==13)// values in pairs of bits in the format xxyy
    {
      out++;
      OK=false;// right rotate direction
    }
  if(c==1 || c==7 || c==8 || c==14)// values in pairs of bits in the format xxyy
    {
      out--;
      OK=true;// left rotate direction
    }
   else if(OK==true)
    {// if OK is true and c has other values the arduino miss steps in the ccw direction
      OK1=false;
      //Serial.println(“error”);
    }
   x=PIND&B00001100;// x takes the new state of pins
  state = !state;// blink LED from pin 13
  sei();// enable interrupts
}
void encoder1()
{// function to check the rotate direction when pin 2 is changing state
  cli();// stop interrupts which could appear
  a=PIND&B00001100;// a takes the new state of pins beacuse encoder1 function is call when pin 2 is changing state
  b=a>>2;// move bits for pin 2 and 3 in the places coressponding to 2^0 and 2^1
  c=b | x;
  if(c==1 || c==7 || c==8 || c==14)// values in pairs of bits in the format xxyy
    {
      OK=true;// left rotate direction
    }
   if(c==2 || c==4 || c==11 || c==13)// values in pairs of bits in the format xxyy
    {
      OK=false;// right rotate direction
    }
  else if(OK==false)
  {// if OK is false and c has other values the arduino miss steps in the cw direction
    OK1=false;
    Serial.println("error");
  }
  x=PIND&B00001100;// x takes the new state of pins
  state = !state;// blink LED from pin 13
  sei();// enable interrupts
}