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Vehicle Speed Code

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21E102 - ADHINESWARAN K
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14 views2 pages

Vehicle Speed Code

Uploaded by

21E102 - ADHINESWARAN K
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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// Motor encoder output pulses per 360 degree revolution (measured manually)

#define ENC_COUNT_REV 620

volatile long encoder_value = 0;

// One-second interval for measurements


int interval = 1000;

// Counters for milliseconds during interval


long previousMillis = 0;
long currentMillis = 0;

// Variable for RPM measuerment


float rpm = 0;

// Variable for angular velocity measurement


float angular_velocity = 0;
float angular_velocity_deg = 0;

const float rpm_to_radians = 0.10471975512;


const float rad_to_deg = 57.29578;

int DT_pin = 2;
int CLK_pin = 3;

void setup() {
pinMode(DT_pin , INPUT_PULLUP); //pullup - pin set HIGH
pinMode(CLK_pin , INPUT);

Serial.begin(9600); //baud rate

// Every time the pin goes high, this is a pulse


attachInterrupt(digitalPinToInterrupt(DT_pin), interrupt_on_pulse, RISING);
//ISR - Interrupt_Service_Routine ; here ISR is func interrupt_on_pulse
//this function must take no parameters and return nothing.
}

void loop() {

// Record the time


currentMillis = millis();

// If one second has passed, print the number of pulses


if (currentMillis - previousMillis > interval) {

previousMillis = currentMillis;

// Calculate revolutions per minute


rpm = (float)(encoder_value * 60 / ENC_COUNT_REV);
angular_velocity = rpm * rpm_to_radians;
angular_velocity_deg = angular_velocity * rad_to_deg;

Serial.print(" Pulses: ");


Serial.println(encoder_value);
Serial.print(" Speed: ");
Serial.print(rpm);
Serial.println(" RPM");
Serial.print(" Angular Velocity: ");
Serial.print(angular_velocity_deg);
Serial.println(" deg per second");
Serial.println();

encoder_value = 0;
}
}

// Increment the number of pulses by 1


void interrupt_on_pulse() {

// Read the value for the encoder for the right wheel
int val = digitalRead(CLK_pin);

if(val == LOW) {
encoder_value++;
}
else {
encoder_value--;
}
}

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