SIP Car Code Encoders

 JugueBot Code

Wheel Encoders


 #define outputA 6

 #define outputB 7

 int counter = 0; 

 int aState;

 int aLastState;  

 void setup() { 

   pinMode (outputA,INPUT);

   pinMode (outputB,INPUT);

   

   Serial.begin (9600);

   // Reads the initial state of the outputA

   aLastState = digitalRead(outputA);   

 } 

 void loop() { 

   aState = digitalRead(outputA); // Reads the "current" state of the outputA

   // If the previous and the current state of the outputA are different, that means a Pulse has occured

   if (aState != aLastState){     

     // If the outputB state is different to the outputA state, that means the encoder is rotating clockwise

     if (digitalRead(outputB) != aState) { 

       counter ++;

     } else {

       counter --;

     }

     Serial.print("Position: ");

     Serial.println(counter);

   } 

   aLastState = aState; // Updates the previous state of the outputA with the current state

 }

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