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#include <Arduino.h>
#include <Wire.h>
#include <SoftwareSerial.h>
#include <MeMegaPiPro.h>
double angle_rad = PI/180.0;
double angle_deg = 180.0/PI;
MeEncoderOnBoard Encoder_1(SLOT1);
MeEncoderOnBoard Encoder_2(SLOT2);
void isr_process_encoder1(void)
{
if(digitalRead(Encoder_1.getPortB()) == 0){
Encoder_1.pulsePosMinus();
}else{
Encoder_1.pulsePosPlus();
}
}
void isr_process_encoder2(void)
{
if(digitalRead(Encoder_2.getPortB()) == 0){
Encoder_2.pulsePosMinus();
}else{
Encoder_2.pulsePosPlus();
}
}
void setup(){
TCCR1A = _BV(WGM10);//PIN12
TCCR1B = _BV(CS11) | _BV(CS10) | _BV(WGM12);
TCCR2A = _BV(WGM21) | _BV(WGM20);//PIN8
TCCR2B = _BV(CS22);
attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1, RISING);
attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);
}
void loop(){
Encoder_1.setTarPWM(100);
Encoder_2.setTarPWM(100);
delay(1);
Encoder_1.setTarPWM(0);
Encoder_2.setTarPWM(0);
delay(1);
loop();
}
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