1 int motor_c_ENA=6;   //控制板与驱动板的引脚连接

 2 int motor_c_IN1=8;

 3 int motor_c_IN2=7;

 4

 5 #define ENCODER_A_PIN  2     //编码器A相接控制板2号引脚，对应0号外部中断

 6 #define ENCODER_B_PIN  3     //编码器B相接控制板3号引脚，

 7 long pulse_number=0;   // 脉冲计数

 8 int rpm;

 9

10 #include <MsTimer2.h>        //定时器库的头文件

11

12 void setup()

13 {

14      pinMode(motor_c_ENA,OUTPUT);  //电机C使能和PWM调速口

15     pinMode(motor_c_IN1,OUTPUT);   //电机C控制口

16     pinMode(motor_c_IN2,OUTPUT);   //电机C控制口

17

18     MsTimer2::set(500, send);     // 中断设置函数，每 500ms 进入一次中断

19     MsTimer2::start();            //开始计时

20

21     pinMode(ENCODER_A_PIN, INPUT);

22      pinMode(ENCODER_B_PIN, INPUT);

23      attachInterrupt(0, read_quadrature, FALLING);   //EN_A脚下降沿触发中断

24     Serial.begin(9600);    //初始化Arduino串口

25 }

26

27 void loop()

28 {

29 //C加速正转

30    digitalWrite(motor_c_IN1,0);

31     digitalWrite(motor_c_IN2,1);

32     for (int a=100;a<=255;a++)

33      {

34         analogWrite(motor_c_ENA,a);

35         delay(200);

36      }

37

38 //C减速正转

39    digitalWrite(motor_c_IN1,0);

40     digitalWrite(motor_c_IN2,1);

41     for (int a=255;a>0;a--)

42     {

43         analogWrite(motor_c_ENA,a);

44         delay(200);

45      }

46 }

47

48 void send()     //速度串行传送

49 {

50      rpm=int(pulse_number/37.4);

51 //编码器精度为224线，减速器减速比为1:20，故系数=(224/(60/0.5))*20=37.4

52      Serial.print("rpm: ");

53      Serial.println(rpm, DEC);

54      pulse_number = 0;

55 }

56

57 void read_quadrature()    //编码器脉冲计数中断函数

58 {

59   if (digitalRead(ENCODER_A_PIN) == LOW)

60   {

61     if (digitalRead(ENCODER_B_PIN) == LOW)    // 查询EN_B的电平以确认正转

62     { pulse_number ++; }

63     if (digitalRead(ENCODER_B_PIN) == HIGH)     // 查询EN_B的电平以确认反转

64     { pulse_number --; }

65   }

66 }