Timer2 overflows every 1ms, thus, each increment of variable t is 1ms. This is the program for estimating velocity: To find out why such settings will lead to a 1ms timer, please refer to MEGA 2560 datasheet, available in DOWNLOAD section.
#CONTOH PROGRAM ROTARY ENCODER CODE#
There is this piece of code for Timer2 setup: The above explains this line in the program: Timer2 Setups Our program reads it in 4 times the original resolution, hence, it becomes:Īnd we have this relation between the angle the encoder shaft rotates and the encoder output counts:Īngle = 2*pi/5000 counts = 0.00126*counts, unit: radian The above explains this line in the program: encoder 1 (pendulum encoder) Therefore, we have this relation between the angle motor rotates and the encoder output counts:Īngle = 2*pi/6000 counts = 0.00105*counts, unit: radian
#CONTOH PROGRAM ROTARY ENCODER FULL#
So, when the motor rotates one full circle the encoder will output: Thus, the rotation ratio of motor to encoder is 3:1. The bigger pulley has 60 teeth, the smaller pulley has 20 teeth. Because our Arduino program reads encoder in 4 times the original resolution, this 500 CPR encoder now becomes:Īlso note that there is a pair of pulleys connect the encoder and the motor. This is a 500 CPR encoder installed in base. Here I would like to explain some math about encoder readings: encoder 0 (base encoder) The following is the encoder demo for this rotary inverted pendulum. (If you cannot watch YouTube, please click here for YouKu) The video was made for another project, but by watching this video, you could have a better understanding on how encoder works. We use Arduino MEGA 2560 to read the encoders, and by using 2 external interrupt pins for each encoder, we could get 4 times resolution, in other words, for a 500 CPR encoder, we could get a resolution of 2000 CPR. Encoder has a CPR value, which is the value of "counts per revolution". Absolute and relative (incremental) encoders are the two main types. It looks very much like a potentiometer but it can turn in either clockwise or counter-clockwise direction infinitely.There are several types of rotary encoders. The rotary inverted pendulum has two encoder. A rotary encoder is a electro-mechanical device which converts rotational motion into digital or analog information.
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