旋转编码器 通信协议

ARDUINO LEONARDO

1 协议

ST\n

START TO ENCODE POSITION
旋转编码器置0，并启动；
返回：OK\n

RD\n

READ ENCONDER, RETURN xx （x is char type）
读取当前旋转编码器值；
返回: xx\n
其中：x为阿拉伯数字的ASCII码

CL\n

CLEAR to ZERO
旋转编码器置零
返回：OK\n

SExx\n

SET xx（x is char type） AS MAXIMUM ENCONDER NUMBER
设置旋转编码器最大计数值xxx（数值范围为：0-65535）
其中：x为阿拉伯数字的ASCII码
返回：OK\n

II\n

Information for device parameters
获取设备名称
返回：ENCODER\n

待续……

返回指令

RE\n

REPEAT THE COMMAND AGAIN

2 程序

const int inputPinA = 2;
const int inputPinB = 5;
const int inputPinZ = 6;

volatile unsigned int encoderPosition = 0;
unsigned int MaxPosition = 65535; 
String inputString = "";         // a string to hold incoming data

boolean stringComplete = false;  // whether the string is complete

void doEncoderA()
{
  if(digitalRead(inputPinA) == digitalRead(inputPinB))
      {
        encoderPosition--;
      }
  else
      {
        encoderPosition++;
      }

  if( encoderPosition >=  MaxPosition )
  {
    encoderPosition = 0;
  }
}


/*
void serialEvent() 
{
  while (Serial.available())
  {
    // get the new byte:
    char inChar = (char)Serial.read();
    // add it to the inputString:
    inputString += inChar;
    
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\n' )
    {  
       if(inputString[0] == 'S' && inputString[1] == 'T')
      {
         encoderPosition = 0;
         inputString = ""; 
      }
      else if(inputString[0] == 'R' && inputString[1] == 'D')
      {
         Serial.println(encoderPosition);
         inputString = ""; 
      }
      else if(inputString[0] == 'C' && inputString[1] == 'L')
      {
          encoderPosition = 0;
          inputString = ""; 
      }
      else if(inputString[0] == 'S' && inputString[1] == 'E')
      {
         MaxPosition = int(inputString[2])>>8+int(inputString[3]);
         inputString = ""; 
      }
      else
      {
        Serial.println("RE");
        inputString = ""; 
      }
    }
  }
}

*/


void setup() {
  // put your setup code here, to run once:
  pinMode(inputPinA, INPUT);
  pinMode(inputPinB, INPUT);
  pinMode(inputPinZ, INPUT);

  digitalWrite(inputPinA,HIGH);
  digitalWrite(inputPinB,HIGH);

  attachInterrupt(1, doEncoderA, FALLING);
  Serial.begin(115200);
}

/
void loop() {
  // put your main code here, to run repeatedly:
  //Serial.println(encoderPosition);
  //Serial.println(inputString);
  //delay(100);
  
  while (Serial.available())
  {
    // get the new byte:
    char inChar = (char)Serial.read();
    unsigned int aa,bb;
    // add it to the inputString:
    inputString += inChar;
    
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\n' )
    {  
       if(inputString[0] == 'S' && inputString[1] == 'T')
      {
         encoderPosition = 0;
         Serial.println(‘OK');
      }
      else if(inputString[0] == 'R' && inputString[1] == 'D')
      {
         Serial.println(encoderPosition);
         //Serial.println(inputString);
      }
      else if(inputString[0] == 'C' && inputString[1] == 'L')
      {
          encoderPosition = 0;
         Serial.println(‘OK');
      }
      else if(inputString[0] == 'S' && inputString[1] == 'E')
      {
         
         aa = int(inputString[2])<<8;
         bb = int(inputString[3]);
         MaxPosition = aa + bb;
                 
      }
      else
      {
        Serial.println("RE");
        //Serial.println(inputString);
      }
    inputString = ""; 
    }
  }

}

修改协议后的代码

const int inputPinA = 2;
const int inputPinB = 5;
const int inputPinZ = 6;

volatile unsigned int encoderPosition = 0;
unsigned int MaxPosition = 65535; 
String inputString = "";         // a string to hold incoming data
String numString = "";         // a string to hold incoming number

boolean stringComplete = false;  // whether the string is complete

void doEncoderA()
{
  if(digitalRead(inputPinA) == digitalRead(inputPinB))
      {
        encoderPosition--;
      }
  else
      {
        encoderPosition++;
      }

  if( encoderPosition >=  MaxPosition )
  {
    encoderPosition = 0;
  }
}





void setup() {
  // put your setup code here, to run once:
  pinMode(inputPinA, INPUT);
  pinMode(inputPinB, INPUT);
  pinMode(inputPinZ, INPUT);

  digitalWrite(inputPinA,HIGH);
  digitalWrite(inputPinB,HIGH);

  attachInterrupt(1, doEncoderA, FALLING);
  Serial.begin(115200);
}

/
void loop() {
  // put your main code here, to run repeatedly:
  //Serial.println(encoderPosition);
  //Serial.println(inputString);
  //delay(100);
  
  while (Serial.available())
  {
    // get the new byte:
    char inChar = (char)Serial.read();
    unsigned int aa,bb;
    // add it to the inputString:
    inputString += inChar;
    
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\n' )
    {  
       if(inputString[0] == 'S' && inputString[1] == 'T')
      {
         encoderPosition = 0;
         Serial.println("OK");
      }
      else if(inputString[0] == 'R' && inputString[1] == 'D')
      {
         Serial.println(encoderPosition);
         //Serial.println(inputString);
      }
      else if(inputString[0] == 'C' && inputString[1] == 'L')
      {
          encoderPosition = 0;
          Serial.println("OK");
      }
      else if(inputString[0] == 'S' && inputString[1] == 'E')
      {
                  
         /*int i;
         for(i=2;i<inputString.length();i++)
         {
            numString[i-2] = inputString[i];    
            Serial.println(i);
         }
         Serial.println(numString.length());
         Serial.println(numString.toInt());
         MaxPosition = numString.toInt();//string转为整数*/
         
         int result = inputString.substring(2,inputString.length()).toInt();
         /* 不需要判断，一旦溢出，系统自动对65536求余
         if (result > 65535)
         {
            MaxPosition = 65535;
            
         }
         else
         {
            MaxPosition = result;
         }
         */
         Serial.println(MaxPosition);//456
                 
      }
      else if(inputString[0] == 'I' && inputString[1] == 'I')
      {
          Serial.println("ENCODER");                
      }
      else
      {
        Serial.println("RE");
        //Serial.println(inputString);
      }
    inputString = ""; 
    numString = " ";
    }
  }

}