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lib/BasicEncoder/examples/poll-in-loop/poll-in-loop.ino

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+/*
+ Copyright 2021 Peter Harrison - Helicron
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+      https://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+ This example creates a single encoder instance that is updated by
+ running the service method directly in the main program loop. This
+ must be called frequently enough to avoid missing any pin changes. That
+ means several hundred times a second in many cases. If a change is detected
+ in the main loop, the current count is sent to the serial port.
+ 
+ You can add a delay into the loop in this eample to see just how often you
+ need to call the service method and still get reliable counts.
+ */
+
+#include <Arduino.h>
+#include <BasicEncoder.h>
+
+const int8_t pinA = 2;
+const int8_t pinB = 3;
+
+BasicEncoder encoder(pinA, pinB);
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println(F("Polling in loop()"));
+}
+
+void loop() {
+  encoder.service();
+  int encoder_change = encoder.get_change();
+  if (encoder_change) {
+    Serial.println(encoder.get_count());
+  } 
+  // Even a short delay here will affect performance.
+  // Uncomment and change the delay to see what happens.
+  //delay(10);
+}

lib/BasicEncoder/examples/two-encoders/two-encoders.ino

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+/*
+  Copyright 2021 Peter Harrison - Helicron
+ 
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+ 
+       https://www.apache.org/licenses/LICENSE-2.0
+ 
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+ 
+  This example creates two independent encoders and samples them using a 
+  timer interrupt. If either changes, the current count for both is sent to
+  the serial port.
+ */
+
+#include <Arduino.h>
+#include <BasicEncoder.h>
+#include <TimerOne.h>
+
+BasicEncoder encoderA(2, 3);
+BasicEncoder encoderB(10, 11);
+
+
+/****************************************************************/
+void timer_service() {
+  encoderA.service();
+  encoderB.service();
+}
+
+void setup() {
+  Serial.begin(115200);
+  Timer1.initialize(1000);
+  Timer1.attachInterrupt(timer_service);
+}
+
+void loop() {
+  int encoder_a_change = encoderA.get_change();
+  int encoder_b_change = encoderB.get_change();
+  if (encoder_a_change || encoder_b_change) {
+    Serial.print(encoderA.get_count());
+    Serial.print(' ');
+    Serial.print(encoderB.get_count());
+    Serial.println();
+  }
+}

lib/BasicEncoder/examples/using-pin-change/using-pin-change.ino

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+/*
+ Copyright 2021 Peter Harrison - Helicron
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+      https://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+ This example creates a single encoder instance that is updated by
+ pin-change interrupts associated with the two pins. If a change is detected
+ in the main loop, the current count is sent to the serial port. 
+ 
+ Note that if you enable pin change interrupts for other pins in the same
+ group, you may cause conflicts.
+ */
+
+#include <Arduino.h>
+#include <BasicEncoder.h>
+
+const int8_t pinA = 2;
+const int8_t pinB = 3;
+
+BasicEncoder encoder(pinA, pinB);
+
+void pciSetup(byte pin)  // Setup pin change interupt on pin
+{
+  *digitalPinToPCMSK(pin) |= bit(digitalPinToPCMSKbit(pin));  // enable pin
+  PCIFR |= bit(digitalPinToPCICRbit(pin));                    // clear outstanding interrupt
+  PCICR |= bit(digitalPinToPCICRbit(pin));                    // enable interrupt for group
+}
+
+void setup_encoders(int a, int b) {
+  uint8_t old_sreg = SREG;     // save the current interrupt enable flag
+  noInterrupts();
+  pciSetup(a);
+  pciSetup(b);
+  encoder.reset();
+  SREG = old_sreg;    // restore the previous interrupt enable flag state
+}
+
+ISR(PCINT2_vect)  // pin change interrupt for D0 to D7
+{
+  encoder.service();
+}
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("Interrupts");
+  setup_encoders(pinA,pinB);
+  encoder.set_reverse();
+}
+
+void loop() {
+  int encoder_change = encoder.get_change();
+  if (encoder_change) {
+    Serial.println(encoder.get_count());
+  } 
+}

lib/BasicEncoder/examples/using-timerone/using-timerone.ino

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+/*
+ Copyright 2021 Peter Harrison - Helicron
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+      https://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+
+ This example creates a single encoder instance that is updated by
+ a timer interrupt running at 1kHz. If a change is detected
+ in the main loop, the current count is sent to the serial port.
+ 
+ Be sure that the timer interrupt is frequent enough that it cannot miss
+ a change in pin state.
+ */
+
+#include <Arduino.h>
+#include <BasicEncoder.h>
+#include <TimerOne.h>
+
+BasicEncoder encoder(2, 3);
+
+/****************************************************************/
+void timer_service() {
+  encoder.service();
+}
+
+void setup() {
+  Serial.begin(115200);
+  Timer1.initialize(1000);
+  Timer1.attachInterrupt(timer_service);
+  encoder.set_reverse();
+}
+
+void loop() {
+  int encoder_change = encoder.get_change();
+  if (encoder_change) {
+    Serial.println(encoder.get_count());
+  }
+  
+}