HCR -PC 客户端开源
2009-12-286893
AI 快速预览详细
本文介绍了HCR-PC客户端开源项目的编码器连接图和采样代码。通过初始化模块并读取脉冲数，可以实现对编码器的应用。文章提供了具体的代码示例，包括初始化函数和中断处理函数。此外，还推荐了chai2010撰写的关于SVN使用的浅显易懂的教程。
HCR -PC 客户端开源
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开源的文件连接在Google Code上。装了SVN的可以直接check out。 Encoder Connection Diagram 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！ 希望大家能在这基础上完善更新 |
Serial.begin(57600);//Initialize the serial port EncoderInit();//Initialize the module }[/align][align=left]void loop() { Serial.print("Pulse:"); Serial.println(duration); duration = 0; delay(500); }[/align][align=left]void EncoderInit() { Direction = true;//default -> Forward
pinMode(encoder0pinB,INPUT);
attachInterrupt(0, wheelSpeed, CHANGE); }[/align][align=left]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;[/align][align=left]if(!Direction) duration++; else duration--; }[/align][align=left]```[/align][align=left]Open source home care robot from roboticfan.com[/align][align=left]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！[/align][align=left]http://code.google.com/p/hcrobot/wiki/svn_tutorial[/align]
希望大家能在这基础上完善更新