////////////////////////////////////////////////////////////////////////////////
// Name: KY-010, WYC H206 //
// Platform: Arduino Uno R3 //
// Created by: HARB rboek2@gmail.com July 2016 GPL copyrights //
// http://robotigs.com/robotigs/includes/parts_header.php?idpart=102 //
// Connect the speed encoder to an interrupt in pin. //
// This program will toggle the LED according to a speed encoder value. //
////////////////////////////////////////////////////////////////////////////////
// SET PRECOMPILER OPTIONS *****************************************************
// Define precompiler settings PINS --------------------------------------------
#define SpeedEncoL 2 //Interrupted input of speed encoder WYC H206
// Define the needed header files for the precompiler, no charge if not used ---
//#include <TimerOne.h>//Needed for reading wheel speed, library manager install
// Define variables ------------------------------------------------------------
bool ledBinVal = LOW; //You can chose HIGH-on or LOW-off for LED_BUILTIN
word cntrL = 0; //Define left wheel counter per second
//END OF PRECOMPILER OPTIONS ---------------------------------------------------
void setup() { //Setup runs once ***********************************************
pinMode(LED_BUILTIN, OUTPUT); //Arduino boards contain an onboard LED_BUILTIN
pinMode(SpeedEncoL, INPUT_PULLUP); //INPUT_PULLUP
//digitalWrite(20, HIGH); //Enable pullup resistor
//Timer1.initialize(100000); //This timer will create an interrupt every 10 s
//Timer1.attachInterrupt( timerIsr ); //Start the timer
//attachInterrupt(SpeedEncoL, docntrL, RISING); //Increase counter on change
//attachInterrupt(SpeedEncoR, docntrR, FALLING); //Increase counter on change
//delay(1000); //Needed for IR receiver Wait milliseconds, TIME TO SPARE
toggle_ledBin(); //Show we are awake
}//--(end setup )---------------------------------------------------------------
void loop() { //KEEP ON RUNNING THIS LOOP FOREVER ******************************
ledBinVal = digitalRead(SpeedEncoL); //Read WYC H206
digitalWrite(LED_BUILTIN, ledBinVal); //Set Arduino boards onboard LED
} //End of void loop() //KEEP ON RUNNING THIS LOOP FOREVER
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void toggle_ledBin(void) { //Toggles the LED_BUILTIN on-board LED on or off ****
ledBinVal = !ledBinVal; //Toggle value
digitalWrite(LED_BUILTIN, ledBinVal); //Set Arduino boards onboard LED
} //Exit toggle_ledBin ---------------------------------------------------------
void docntrR() { //Increases the right wheel speed sensor by 1 *****************
//cntrR++; //Increase +1 the counter value
toggle_ledBin(); //Toggles the default on-board LED on or off
} //Exit docntR ----------------------------------------------------------------
void docntrL() { //Increases the left wheel speed sensor by 1 ******************
cntrL++; //Increase +1 the counter value
toggle_ledBin(); //Toggles the default on-board LED on or off
} //Exit docntL ----------------------------------------------------------------
void timerIsr() { //Timer has reached its maximum ******************************
//Timer1.detachInterrupt(); //Stop the timer
//Serial.print("Motor Speed R:");
//Serial.print(cntrR, DEC);
//Serial.print(" L:");
//Serial.print(cntrL, DEC);
//Serial.println(" pulses per 0.1 s");
//cntrR = 0; //Reset counter to zero
cntrL = 0; //Reset counter to zero
//Timer1.attachInterrupt( timerIsr ); //Enable the timer again
} //Exit timerIsr --------------------------------------------------------------
////////////////////////////////////////////////////////////////////////////////
// PIN ALLOCATIONS TABLE ARDUINO UNO //
// Board -Atmel- PIN - IDE - Function - Connection ALT //
// //
// CONNECTIONS RAILS TOP LEFT: DIGITAL PWM<~> ******************************* //
// SCL - 28 - PC5 -19/A5- ADC5/SCL/PCINT13 - TWI //
// SDA - 27 - PC4 -18/A4- ADC4/SDA/PCINT12 - TWI //
// AREF - 21 - REF - - AREF - //
// GND - 22 - GND - - GND - //
// 13 - 19 - PB5 - 13 - SCK/PCINT5 - LED_BUILTIN Arduino SPI //
// 12 - 18 - PB4 - 12 - MISO/PCINT4 - SPI //
// ~11 - 17 - PB3 - 11 - MOSI/OC2A/PCINT3 - PWM //
// ~10 - 16 - PB2 - 10 - SS/OC1B/PCINT2 - PWM //
// ~9 - 15 - PB1 - 9 - OC1A/PCINT1 - PWM //
// 8 - 14 - PB0 - 8 - PCINT0/CLK0/ICP1 - DIO //
// //
// CONNECTIONS RAILS TOP RIGHT: DIGITAL PWM<~> ****************************** //
// 7 - 13 - PD7 - 7 - PCINT23/AIN1 - DIO //
// ~6 - 12 - PD6 - 6 - PCINT22/OCA0/AIN0 - PWM //
// ~5 - 11 - PD5 - 5 - PCINT21/OC0B/T1 - PWM //
// ~4 - 6 - PD4 - 4 - PCINT20/XCK/T0 - PWM //
// ~3 - 5 - PD3 - 3 - PCINT19/OC2B/INT1 - INT //
// ~2 - 4 - PD2 - 2 - PCINT18/INT0 - INT //
// TX->1 - 3 - PD1 - 1 - PCINT17/TXD - Serial monitor TXD //
// RX<-0 - 2 - PD0 - 0 - PCINT16/RCD - Serial Monitor RCD //
// //
// CONNECTIONS RAILS BOTTOM LEFT: POWER ************************************* //
// 5V - 7 - VCC - - VCC - Output to breadboard VCC //
// RES - 1 - RES - - PCINT14/RESET - RES //
// 3.3V - - - - - //
// 5V - - - - - //
// GND - - - - - //
// GND - - - - - //
// Vin - - - - - //
// //
// CONNECTIONS RAILS BOTTOM RIGHT: ANALOG IN ******************************** //
// A0 - 23 - PC0 -A0/14- ADC0/PCINT8 - ADC //
// A1 - 24 - PC1 -A1/15- ADC1/PCINT9 - ADC //
// A2 - 25 - PC2 -A2/16- ADC2/PCINT10 - ADC //
// A3 - 26 - PC3 -A3/17- ADC3/PCINT12 - ADC //
// A4 - 27 - PC4 -A4/18- ADC4/SDA/PCINT12 - TWI //
// A5 - 28 - PC5 -A5/19- ADC5/SCL/PCINT13 - TWI //
////////////////////////////////////////////////////////////////////////////////
// EEPROM MEMORY MAP: //
// Start End Number Description //
// 0000 0000 1 Never use this memory location to be AVR compatible //
////////////////////////////////////////////////////////////////////////////////
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