Library Description

Library contains functions for getting INT(Channel A) and PWM(Channel B) pin states Library contains function for incrementing/decrementing encoder position Library contains function for reseting encoder position counter to 0(zero) Library contains function for getting current encoder position

Key functions:

• int32_t optoencoder2_getPosition(void) - returns current encoder position.
• void optoencoder2_zeroCounter(void) - resets encoder counter to 0(zero).
• uint8_t optoencoder2_isr( uint8_t n_cycles ) - checks for rising edge on Channel A (INT pin), within specified number of cycles (n_cycles), and increments or decrements encoder position.

Examples Description

The application is composed of three sections :

• System Initialization - Initializes LOG, initializes PWM and INT pins.
• Application Initialization - Initializes GPIO driver and resets encoder counter to 0(zero) .
• Application Task - If encoder is moving - increments or decrements encoder position on every rising edge on Channel A (INT pin) and logs encoder position .

void applicationTask( )
{
    stop_flag = optoencoder2_isr(100);
    encoderPosition = optoencoder2_getPosition( );
    if (stop_flag == 0)
    {
        LongToStr( encoderPosition, text );
        mikrobus_logWrite( "> pos : ", _LOG_TEXT );
        mikrobus_logWrite( text, _LOG_LINE );
    }
}

Other mikroE Libraries used in the example:

• UART
• Conversions

Additional notes and informations

Depending on the development board you are using, you may need USB UART click, USB UART 2 Click or RS232 Click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all Mikroelektronika compilers, or any other terminal application of your choice, can be used to read the message.