initial commit

blinds/src/main.cpp

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+#include <Arduino.h>
+
+/*
+ * Author: Automatic Addison
+ * Website: https://automaticaddison.com
+ * Description: Calculate the angular velocity in radians/second of a DC motor
+ * with a built-in encoder (forward = positive; reverse = negative) 
+ */
+ 
+// Motor encoder output pulses per 360 degree revolution (measured manually)
+#define ENC_COUNT_REV (500 * 11) //12rmp motor
+ 
+// Encoder output to Arduino Interrupt pin. Tracks the pulse count.
+#define ENC_IN_RIGHT_A 2
+ 
+// Other encoder output to Arduino to keep track of wheel direction
+// Tracks the direction of rotation.
+#define ENC_IN_RIGHT_B 4
+ 
+// True = Forward; False = Reverse
+bool Direction_right = true;
+ 
+// Keep track of the number of right wheel pulses
+volatile long right_wheel_pulse_count = 0;
+ 
+// One-second interval for measurements
+int interval = 1000;
+  
+// Counters for milliseconds during interval
+long previousMillis = 0;
+long currentMillis = 0;
+ 
+// Variable for RPM measuerment
+float rpm_right = 0;
+ 
+// Variable for angular velocity measurement
+float ang_velocity_right = 0;
+float ang_velocity_right_deg = 0;
+ 
+const float rpm_to_radians = 0.10471975512;
+const float rad_to_deg = 57.29578;
+ 
+void setup() {
+ 
+  // Open the serial port at 9600 bps
+  serial.begin(9600); 
+ 
+  // Set pin states of the encoder
+  pinMode(ENC_IN_RIGHT_A , INPUT_PULLUP);
+  pinMode(ENC_IN_RIGHT_B , INPUT);
+ 
+  // Every time the pin goes high, this is a pulse
+  attachInterrupt(digitalPinToInterrupt(ENC_IN_RIGHT_A), right_wheel_pulse, RISING);
+   
+}
+ 
+void loop() {
+ 
+  // Record the time
+  currentMillis = millis();
+ 
+  // If one second has passed, print the number of pulses
+  if (currentMillis - previousMillis > interval) {
+ 
+    previousMillis = currentMillis;
+ 
+    // Calculate revolutions per minute
+    rpm_right = (float)(right_wheel_pulse_count * 60 / ENC_COUNT_REV);
+    ang_velocity_right = rpm_right * rpm_to_radians;   
+    ang_velocity_right_deg = ang_velocity_right * rad_to_deg;
+     
+    Serial.print(" Pulses: ");
+    Serial.println(right_wheel_pulse_count);
+    Serial.print(" Speed: ");
+    Serial.print(rpm_right);
+    Serial.println(" RPM");
+    Serial.print(" Angular Velocity: ");
+    Serial.print(rpm_right);
+    Serial.print(" rad per second");
+    Serial.print("\t");
+    Serial.print(ang_velocity_right_deg);
+    Serial.println(" deg per second");
+    Serial.println();
+ 
+    right_wheel_pulse_count = 0;
+   
+  }
+}
+ 
+// Increment the number of pulses by 1
+void right_wheel_pulse() {
+   
+  // Read the value for the encoder for the right wheel
+  int val = digitalRead(ENC_IN_RIGHT_B);
+ 
+  if(val == LOW) {
+    Direction_right = false; // Reverse
+  }
+  else {
+    Direction_right = true; // Forward
+  }
+   
+  if (Direction_right) {
+    right_wheel_pulse_count++;
+  }
+  else {
+    right_wheel_pulse_count--;
+  }
+}