Create encoder_test.ino

arduino/encoder_test.ino

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+/* Program to test encoders. (Connect both encoders)
+ *  Centauri Robotics, All rights reserved
+ *  Date: December 13, 2019
+ */
+//////////////////////////////////////////////////////////////////////////////////////////// 
+//Encoder pins definition
+
+// Left encoder
+//Channel A to Pin 2
+//Channel B to Pin 9
+int Left_Encoder_PinA = 2;
+int Left_Encoder_PinB = 9;
+
+//Encoder value counter (Part of program; Not a hardware pin)
+volatile long Left_Encoder_Ticks = 0;
+
+//Variable to read current state of left encoder pin
+//This pins along with Channel A which is set as interrupt, allows to detect the direction
+volatile bool LeftEncoderBSet;
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+
+//Right Encoder
+
+int Right_Encoder_PinA = 3;
+int Right_Encoder_PinB = 10;
+
+//Encoder value counter (Part of program; Not a hardware pin)
+volatile long Right_Encoder_Ticks = 0;
+
+//Variable to read current state of right encoder pin
+//This pins along with Channel A which is set as interrupt, allows to detect the direction
+volatile bool RightEncoderBSet;
+
+////////////////////////////////////////////////////////////////////////////////////////////
+
+void setup()
+{
+  //Init Serial port with 115200 buad rate
+  Serial.begin(115200);  
+  SetupEncoders();
+}
+
+
+void SetupEncoders()
+{
+  // Quadrature encoders
+  // Left encoder
+  pinMode(Left_Encoder_PinA, INPUT);      // sets pin A pullup
+  pinMode(Left_Encoder_PinB, INPUT);      // sets pin B pullup
+  attachInterrupt(digitalPinToInterrupt(Left_Encoder_PinA), do_Left_Encoder, RISING);
+
+
+  // Right encoder
+  pinMode(Right_Encoder_PinA, INPUT);      // sets pin A pullup
+  pinMode(Right_Encoder_PinB, INPUT);      // sets pin B pullup
+
+  attachInterrupt(digitalPinToInterrupt(Right_Encoder_PinA), do_Right_Encoder, RISING); 
+}
+
+void loop()
+{
+  Update_Encoders();
+}
+
+
+void Update_Encoders()
+{
+   Serial.print("e");
+  Serial.print("\t");
+  Serial.print(Left_Encoder_Ticks);
+  Serial.print("\t");
+  Serial.print(Right_Encoder_Ticks);
+  Serial.print("\n");
+ }
+
+ void do_Left_Encoder()
+{
+   LeftEncoderBSet = digitalRead(Left_Encoder_PinB);   // read the input pin
+  Left_Encoder_Ticks += LeftEncoderBSet ? -1 : +1;
+
+}
+void do_Right_Encoder()
+{
+   RightEncoderBSet = digitalRead(Right_Encoder_PinB);   // read the input pin
+  Right_Encoder_Ticks += RightEncoderBSet ? -1 : +1;
+ }