C++ Servo Drive Code 伺服驱动代码-立哥开发

// Copy Right by Jacky Zong . Vision 3.20 . This optional setting causes Encoder to //use more optimized code,
// but the downside is a conflict if any other part of your sketch
// or any other library you’re using requires attachInterrupt().
// It must be defined before Encoder.h is included.
//#define ENCODER_OPTIMIZE_INTERRUPTS

#include <Encoder.h>
#include “pins_arduino.h”

// Change these two numbers to the pins connected to your encoder
// or shift register circuit which emulates a quadrature encoder
// case 1: both pins are interrupts
// case 2: only first pin used as interrupt
Encoder myEnc(5, 6);

// Connect a DC voltmeter to this pin.
const int outputPin = 12;

/* This simple circuit, using a Dual Flip-Flop chip, can emulate
quadrature encoder signals. The clock can come from a fancy
function generator or a cheap 555 timer chip. The clock
frequency can be measured with another board running FreqCount

                    +5V
                     |        Quadrature Encoder Signal Emulator

Clock |
Input o------------------------------ ---------------------------o Output1
| |14 | |
| | | | _______________
| | CD4013 | | | | CD4013 |
| 5 | | 1 | | 9 | | 13
---------| D Q |-----|--------| D Q |------o Output2
| | | | | | |
| | 3 | | | 11 | |
| ----|> Clk | ---------|> Clk |
| | | | |
| 6 | | 8 | |
| ----| S | ----| S |
| | | | | | |
| | 4 | _ | 2 | 10 | _ | 12
| *----| R Q |— *----| R Q |----
| | | | | | | |
| | |_______________| | |_______________| |
| | | | |
| | | 7 | |
| | | | |
--------------------------------------------------------------
| | |
| | |
----- ----- -----
— — —
- - -
*/

void setup() {
pinMode(outputPin, OUTPUT);
}

#if defined(AVR)
#define REGTYPE unsigned char
#elif defined(PIC32MX)
#define REGTYPE unsigned long
#endif

void loop() {
volatile int count = 0;
volatile REGTYPE *reg = portOutputRegister(digitalPinToPort(outputPin));
REGTYPE mask = digitalPinToBitMask(outputPin);

while (1) {
myEnc.read(); // Read the encoder while interrupts are enabled.
noInterrupts();
*reg |= mask; // Pulse the pin high, while interrupts are disabled.
count = count + 1;
*reg &= ~mask;
interrupts();
}
}