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Pololu-Romi-32U4-Carte-Moteur-et-encodeur (voir la source)
Version du 21 mai 2019 à 18:58
, 21 mai 2019 à 18:58→Quadrature encoders
[[Fichier:Pololu-Romi-32U4-Carte-Moteur-et-encodeur-00.png]]
[[Fichier:Pololu-Romi-32U4-Carte-Moteur-et-encodeur-00.png]]
The XORed signal and the channel B signal can be used to reconstruct the channel A signal by simply XORing them again: '''(A XOR B) XOR B = A'''. For both encoders, channel B leads channel A when the motor is rotating in the forward direction; that is, B rises before A rises and B falls before A falls. (The waveforms in the diagram above would be produced by forward rotation.) Note that this description designates the A and B signals as labeled on the control board itself, which puts A in front on both sides.
The Romi32U4 library provides appropriate interrupt service routines and functions for reading the encoders and keeping track of their counts (see Section 6).
{{Pololu-Romi-32U4-TRAILER}}
{{Pololu-Romi-32U4-TRAILER}}