From 8e22684baeb1cdfddfe508f1203ce0a40e6b2f74 Mon Sep 17 00:00:00 2001
From: Nikodem <nikodem.bartnik@gmail.com>
Date: Thu, 23 May 2019 21:14:44 +0200
Subject: [PATCH] First commit

---
 Encoded motor/knob.ino   | 61 +++++++++++++++++++++++++++++++++
 Encoded motor/serial.ino | 74 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 135 insertions(+)
 create mode 100644 Encoded motor/knob.ino
 create mode 100644 Encoded motor/serial.ino

diff --git a/Encoded motor/knob.ino b/Encoded motor/knob.ino
new file mode 100644
index 0000000..d869ba7
--- /dev/null
+++ b/Encoded motor/knob.ino	
@@ -0,0 +1,61 @@
+#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);
+  }
+}
diff --git a/Encoded motor/serial.ino b/Encoded motor/serial.ino
new file mode 100644
index 0000000..0beb991
--- /dev/null
+++ b/Encoded motor/serial.ino	
@@ -0,0 +1,74 @@
+#include <PIDController.h>
+volatile long int encoder_pos = 0;
+PIDController pos_pid; 
+int motor_value = 255;
+unsigned int integerValue=0;  // Max value is 65535
+char incomingByte;
+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(15, 0, 2000);    
+  pos_pid.limit(-255, 255);
+}
+
+void loop() {
+
+if (Serial.available() > 0) {  
+    integerValue = 0;        
+    while(1) {           
+      incomingByte = Serial.read();
+      if (incomingByte == '\n') break;   
+      if (incomingByte == -1) continue;  
+      integerValue *= 10;  
+      integerValue = ((incomingByte - 48) + integerValue);
+      pos_pid.setpoint(integerValue);
+    }
+}
+
+   motor_value = pos_pid.compute(encoder_pos);
+if(motor_value > 0){
+  MotorCounterClockwise(motor_value);
+}else{
+  MotorClockwise(abs(motor_value));
+}
+  Serial.println(encoder_pos);
+  delay(10);
+}
+
+
+
+void encoder(){
+
+  if(digitalRead(3) == HIGH){
+    encoder_pos++;
+  }else{
+    encoder_pos--;
+  }
+}
+
+void MotorClockwise(int power){
+  if(power > 100){
+  analogWrite(9, power);
+  digitalWrite(10, LOW);
+  }else{
+    digitalWrite(9, LOW);
+    digitalWrite(10, LOW);
+  }
+}
+
+void MotorCounterClockwise(int power){
+  if(power > 100){
+  analogWrite(10, power);
+  digitalWrite(9, LOW);
+  }else{
+    digitalWrite(9, LOW);
+    digitalWrite(10, LOW);
+  }
+}