传感器的使用_编码器_2、OMRON E6B2_CWZ3E 1000P/R使用方案

编码器

2、OMRON E6B2_CWZ3E 1000P/R使用方案

参考网址：https://www.fa.omron.com.cn/product/item/2407/      http://www.yozi-sh.com/showpr.asp?pID=535

                  https://blog.csdn.net/qq_36767957/article/details/79964550

目录

接线原理：

实际arduino调试：

实际STM32调试：

接线原理：

       棕色线接电源正极，蓝色线接电源负极

实际arduino调试：

蓝色    GND
褐色    5V 
黑色    A相	    pwm2	 
橙色    Z相 	    pwm3  
白色    B相	    pwm9

arduino控制程序

#define PinA 2 //外部中断0
#define PinZ 3 //外部中断1
#define PinB 9 //编码器的OUT_B信号连接到数字端口8
#define T 30    
unsigned long time1 = 0; 
volatile long PulSum_CW = 0;   
volatile long PulSum_CCW = 0;   


long PulSum_CW_t0 = 0;         //定义记录顺时针方向 t0 时刻脉冲数变量
long PulSum_CW_t0_T = 0;       


float Rad_CW_Speed = 0.000;    //定义顺时针角速度
float Rad_CCW_Speed = 0.000;    //定义逆时针角速度


long PulSum_CCW_t0 = 0;        
long PulSum_CCW_t0_T = 0;      

// 记录角度
int Rad = 180;


void setup()


{
    pinMode(PinA, INPUT_PULLUP);
    pinMode(PinB, INPUT_PULLUP);
    attachInterrupt(0, Encode, FALLING);
    Serial.begin (9600);
}


void loop()
{
  // 角度计算程序
  Rad = int((PulSum_CW - PulSum_CCW)/6.944) % 360; 
  if (Rad>=180) {
    Rad = Rad - 360;
  }
  
  PulSum_CW_t0   = PulSum_CW;  PulSum_CCW_t0   = PulSum_CCW;    
  delay(T);                                                     
  PulSum_CW_t0_T = PulSum_CW;  PulSum_CCW_t0_T = PulSum_CCW;    
  delay(T);                                                     
  
  // 如果检测到正向角速度，那么就打印角速度，以及累计的角度
  if (PulSum_CW_t0_T - PulSum_CW_t0 != 0){
    Rad_CW_Speed = (PulSum_CW_t0_T - PulSum_CW_t0);   //
    // 显示正向(CW)角速度 Rad_CW_Speed--->              //打印出来速度
    //Serial.print("AS:");                            //打印出来速度w
    Serial.println(Rad_CW_Speed);              
    //Serial.print("/A:");
    Serial.println(Rad);
    }  
  
  // 如果检测到反向角速度，那么就打印角速度，以及累计的角度
  if (PulSum_CCW_t0_T - PulSum_CCW_t0 != 0){
    Rad_CCW_Speed = (PulSum_CCW_t0 - PulSum_CCW_t0_T);
    //Serial.print("AS:");
    Serial.println(Rad_CCW_Speed);
    //Serial.print("/A:");
    Serial.println(Rad);
    }



}
void Encode()
{//当编码器码盘的OUTA脉冲信号下跳沿每中断一次，
  //if ((millis() - time1) > 5)
  //{
    if ((digitalRead(PinA) == LOW) && (digitalRead(PinB) == HIGH))
    {PulSum_CW ++;}
    else
    {PulSum_CCW ++;}
  //}
    //time1 == millis();
}

结果

实际STM32调试：

main.c文件

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "SpeedCheck.h"
#include "OLED12864.h"
extern float speed;
int main(void)
{ 
    delay_init(168); //延时初始化 
    uart_init(115200); //串口初始化波特率为115200
    OLED_Init();
    NVIC_Config();
    Timer_Init();
    TIM_Init();
    while(1)
    {
        OLEDPritnf("Speed:%0.2f\r\n",speed);
        delay_ms(1000);
    }
} 

SpeedCheck.c文件
 
//光电编码器测速，TIM3_ETR，PD2
#include "SpeedCheck.h"
 
uint16_t Qian_Count,Hou_Count;
uint8_t flag;
float speed;
 
void TIM3_IRQHandler(void)
{
#if 0
	if(TIM_GetITStatus(TIM1,TIM_IT_Update) != RESET)
	{
		//TIM_ClearITPendingBit(TIM1,TIM_IT_Update); //清除标志位
		GPIOC-> ODR ^= GPIO_Pin_6;
		TIM_ClearITPendingBit(TIM1, TIM_FLAG_Update); //清中断
		//TIM1->EGR |= 0x0001;
		//TIM_ClearITPendingBit(TIM1, TIM_FLAG_Update); //清中断
	}
#endif
 
	if(TIM_GetITStatus(TIM3,TIM_IT_Update) != RESET)
	{
	 	TIM_ClearITPendingBit(TIM3,TIM_IT_Update); //清除标志位
		GPIOC-> ODR ^= GPIO_Pin_8;
		flag++;	 
	}
}
 
//定时器2的中断函数
void TIM2_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM2,TIM_IT_Update) != RESET)
	{
	 	TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除标志位
		GPIOC-> ODR ^= GPIO_Pin_9;
		Qian_Count = TIM3->CNT;
		speed=(800*flag+Qian_Count-Hou_Count)*2.0/200.0;
		flag=0;
		Hou_Count=Qian_Count;	 
	}
}
 
void NVIC_Config(void) 
{  
		NVIC_InitTypeDef NVIC_InitStructure;    
 
		NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置系统中断优先级分组2 
		NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn; //定时器3中断 
		NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1; // 抢占优先级1
		NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;  //子优先级2
		NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;  //IRQ通道使能
		NVIC_Init(&NVIC_InitStructure);
 
		NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);   //设置系统中断优先级分组2 
		NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn;  //定时器2中断
		NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;  // 抢占优先级2
		NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;   //子优先级2
		NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;  //IRQ通道使能
		NVIC_Init(&NVIC_InitStructure);   
}
 
void TIM_Init(void)
{
		GPIO_InitTypeDef GPIO_InitStructure;
		TIM_TimeBaseInitTypeDef   TIM_TimeBaseStructure;
 
		
		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);  	//TIM3时钟使能    
		RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); 	//使能PORTA时钟	
		
		
		GPIO_PinAFConfig(GPIOD,GPIO_PinSource2,GPIO_AF_TIM3); //GPIOD2复用为定时器3
 
		
		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;           //GPIOFD
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //复用功能
		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度100MHz
		GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //推挽复用输出
		GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //上拉
		GPIO_Init(GPIOD,&GPIO_InitStructure);              //初始化PD2
	
		
		//配置TIMER3作为计数器
		TIM_DeInit(TIM3);
		TIM_TimeBaseStructure.TIM_Period = 800;	//编码器转四圈,自动重装载值arr
		TIM_TimeBaseStructure.TIM_Prescaler = 0x00;//定时器分频psc
		TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;//设置时钟分割:TDTS = Tck_tim
		TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数模式
		TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); // Time base configuration
 
		TIM_ClearFlag(TIM3, TIM_FLAG_Update);	
		TIM_ETRClockMode2Config(TIM3, TIM_ExtTRGPSC_OFF, TIM_ExtTRGPolarity_NonInverted, 0);
		//使用ETR时钟作为计数时钟需要设置为外部时钟模式2，故调用该函数，在设置时1、关闭预分频：TIM_ExtTRGPSC_OFF
		TIM_SetCounter(TIM3, 0);
		TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//允许定时器3更新中断
		TIM_Cmd(TIM3, ENABLE);//使能定时器3
}
 
void Timer_Init(void)
{
		TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
 
		//打开TIM2外设的时钟
		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);	//使能TIM2时钟
 
		/*定时器2的设置：72分频，500ms中断一次，向上计数*/
		TIM_TimeBaseStructure.TIM_Period = 5000-1; 	//周期为2S
		TIM_TimeBaseStructure.TIM_Prescaler =8400-1 ; //分频后时钟为1KHz 
		TIM_TimeBaseStructure.TIM_ClockDivision = 0;
		TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
		TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure); //初始化定时器
		
	  TIM_ITConfig(TIM2,TIM_IT_Update, ENABLE);  //允许定时器2更新中断
		TIM_Cmd(TIM2,ENABLE);	   //使能定时器2
}
 
 
 

SpeedCheck.h文件
 
#ifndef __SpeedCheck_H
#define __SpeedCheck_H
#include "sys.h"
void NVIC_Config(void);
void TIM_Init(void);
void TIM3_IRQHandler(void);
void TIM2_IRQHandler(void);
void Timer_Init(void);
#endif