Wheel Encoders

 Wheels Encoders Code


#define rightMotorFor 5

#define rightMotorRev 4

#define leftMotorFor 6

#define leftMotorRev 7

#define encoderPin 2

volatile long encoderValue = 0;




void setup()

{

  Serial.begin(9600);

  pinMode (rightMotorFor, OUTPUT);

  pinMode (rightMotorRev, OUTPUT);

  pinMode (leftMotorFor, OUTPUT);

  pinMode (leftMotorRev, OUTPUT);

  pinMode (encoderPin, INPUT_PULLUP);

  attachInterrupt(digitalPinToInterrupt(encoderPin), AdvanceEncoderValue, RISING);

}


void loop()

{

  //make sure car is pointing forward

  //right hand side of figure 8

  for(int i =0; i< 4; i++){

  rightTurn();

  goForward();

  }

  

  //left hand side of the figure 8

  for(int i =0; i< 4; i++){

  leftTurn();

  goForward();

  }

  

  //all done with the code

  allStop();

  

  

  

}


void goForward()

{

  encoderValue = 0;

  digitalWrite(rightMotorRev, LOW);

  digitalWrite(leftMotorRev, LOW);

  digitalWrite(rightMotorFor, HIGH);

  digitalWrite(leftMotorFor, HIGH);

  Serial.println("starting forward");

  while(encoderValue<8560){

  }

  Serial.println(encoderValue);

  Serial.println("Finished 30.48 cm");

}

void rightTurn(){

  

  encoderValue = 0;

  digitalWrite(rightMotorFor, LOW);

  digitalWrite(leftMotorRev, LOW);

  digitalWrite(leftMotorFor, HIGH);

  digitalWrite(rightMotorRev, HIGH);

  Serial.println("starting rightTurn");

  while(encoderValue<3310){

  }

   Serial.println(encoderValue);

  Serial.println("Finished righTurn");

}

void leftTurn(){

  

  encoderValue = 0;

  digitalWrite(leftMotorFor, LOW);

  digitalWrite(rightMotorRev, LOW);

  digitalWrite(leftMotorRev, HIGH);

  digitalWrite(rightMotorFor, HIGH);

  Serial.println("starting lefTurn");

  while(encoderValue<3310){

  }

  Serial.println(encoderValue);

  Serial.println("Finished leftTurn");

  

}

void allStop(){

  

  encoderValue = 10;

  digitalWrite(leftMotorFor, LOW);

  digitalWrite(rightMotorRev, LOW);

  digitalWrite(leftMotorRev, LOW);

  digitalWrite(rightMotorFor, LOW);

  Serial.println("all stop");

  while(encoderValue>1){

  }

  

}

        

void AdvanceEncoderValue(){

  encoderValue++;

}    

        

        

        

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