엔코딩모터

#include <PIDController.h>

volatile long int encoder_pos = 0;

PIDController pos_pid;

int motor_value = 255;

void setup() {

Serial.begin(9600);

pinMode(2, INPUT);

pinMode(3, INPUT);

pinMode(9, OUTPUT);

pinMode(10, OUTPUT);

attachInterrupt(digitalPinToInterrupt(2), encoder, RISING);

pos_pid.begin();

pos_pid.tune(20, 0, 200);

pos_pid.limit(-255, 255);

}

void loop() {

pos_pid.setpoint((int)(((float)analogRead(A0)/1023) * 374.0 *1));

motor_value = pos_pid.compute(encoder_pos);

if(motor_value > 0){

MotorCounterClockwise(motor_value);

}else{

MotorClockwise(abs(motor_value));

}

Serial.println(encoder_pos);

delay(2);

}

void encoder(){

if(digitalRead(3) == HIGH){

encoder_pos++;

}else{

encoder_pos--;

}

}

void MotorClockwise(int power){

if(power > 50){

analogWrite(9, power);

digitalWrite(10, LOW);

}else{

digitalWrite(9, LOW);

digitalWrite(10, LOW);

}

}

void MotorCounterClockwise(int power){

if(power > 50){

analogWrite(10, power);

digitalWrite(9, LOW);

}else{

digitalWrite(9, LOW);

digitalWrite(10, LOW);

}

}