HCR -PC 客户端开源

开源的文件连接在Google Code上。装了SVN的可以直接check out。

Encoder Connection Diagram

http://www.dfrobot.com/wiki/images/thumb/8/8e/Encoder_Connection.PNG/444px-Encoder_Connection.PNG

Encoder Sampling Code ```

const byte encoder0pinA = 2;//A pin -> the interrupt pin 0 const byte encoder0pinB = 4;//B pin -> the digital pin 4 byte encoder0PinALast; int duration;//the number of the pulses boolean Direction;//the rotation direction

void setup() {
Serial.begin(57600);//Initialize the serial port EncoderInit();//Initialize the module }

void loop() { Serial.print("Pulse:"); Serial.println(duration); duration = 0; delay(500); }

void EncoderInit() { Direction = true;//default -> Forward
pinMode(encoder0pinB,INPUT);
attachInterrupt(0, wheelSpeed, CHANGE); }

void wheelSpeed() { int Lstate = digitalRead(encoder0pinA); if((encoder0PinALast == LOW) && Lstate==HIGH) { int val = digitalRead(encoder0pinB); if(val == LOW && Direction) { Direction = false; //Reverse } else if(val == HIGH && !Direction) { Direction = true; //Forward } } encoder0PinALast = Lstate;

if(!Direction) duration++; else duration--; }

```

Open source home care robot from roboticfan.com

欢迎大家看一下chai2010撰写的关于SVN的使用教程。非常浅显易懂！

http://code.google.com/p/hcrobot/wiki/svn_tutorial

希望大家能在这基础上完善更新