69 lines
1.2 KiB
C++
69 lines
1.2 KiB
C++
#include <avr/io.h>
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#include <util/delay.h>
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#include <Arduino.h>
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#include "digital_in.h"
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#include "digital_out.h"
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class RotaryEncoderDriver {
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volatile int count{0};
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Digital_out led{5};
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Digital_in eA;
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Digital_in eB;
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public:
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RotaryEncoderDriver(unsigned short pin_a = 4, unsigned short pin_b = 5) : eA(pin_a), eB(pin_b) {
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led.init();
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eA.init();
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eB.init();
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EICRA |= (1<<ISC01) | (1<<ISC00);
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EIMSK |= (1<<INT0);
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}
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void update() {
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count += eB.is_hi() ? 1 : -1;
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led.set_hi();
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}
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int position() {
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led.set_lo();
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return count;
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}
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};
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RotaryEncoderDriver encoder{2,5};
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int main() {
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uint8_t cycle{0};
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Serial.begin(9600);
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int prev_pos = encoder.position();
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sei();
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while (true) {
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_delay_us(100);
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int curr_pos = encoder.position();
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if (cycle++ == 255) {
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int delta = curr_pos - prev_pos;
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float rpm = delta * 60.0f / (700.0f * 0.0256f);
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Serial.print("Count: ");
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Serial.print(delta);
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Serial.print("\tRPM: ");
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Serial.println(rpm);
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prev_pos = curr_pos;
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}
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}
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return 0;
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}
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ISR(INT0_vect) {
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encoder.update();
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}
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