Subject:
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Encoders
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Thu, 20 May 1999 01:27:04 GMT
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Original-From:
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Joe Marie J. Maja <MAJA@ROBOTICS.saynotospamIS.TOHOKU.AC.JP>
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Viewed:
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954 times
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Konnichiwa !!
I am currently using the shaft encoder drivers of handy and it works
fine, until I implemented a PID (Position Control). I need to check the
direction of my mobot. Which means that - if it goes backward, I need
to decrease the count and increase it if it goes forward.
I tried to use 74HC74 to check the direction of the rotation of the
encoder(My encoder have this sig A and sig B output).
and run this code
void check_right_encoder() /*process*/
{
while(1)
{
if (encoder1_counts!=0)
{
if(digital(8)==0) { /*check the direction
of rotation */
counter_r--; /*declared as global
*/
encoder1_counts=0;
}
else
{
counter--;
encoder1_counts=0;
}
}
}
This works fine.
QUESTIONS:
Is there anyone who have tried to do the same thing, but implemented it
in assembly - .icb?
joema
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