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• Motor and encoder test

  M. Bindhammer • 05/16/2023 at 17:10 • 0 comments

  It took me a while to figure out the wiring of the encoder PCB. It is as follows:

  After soldering pin headers to the motor wires, the rotary encoder was tested with an Arduino Mega.

  I took the test code from the Arduino project hub.

  int counter=0;
  String dir="";
  unsigned long last_run=0;
  
  
  void  setup() {
    Serial.begin(9600);
    attachInterrupt(digitalPinToInterrupt(3),  shaft_moved, FALLING);
    pinMode(4,INPUT);
  }
  
  void shaft_moved(){
    if (millis()-last_run>5){
      if (digitalRead(4)==1){
        counter++;
        dir="CW";
        }
      if (digitalRead(4)==0){
        counter--;  
        dir="CCW";}
      last_run=millis();
    }
  }
  
  void loop()  {
    Serial.print("counter : ");
    Serial.print(counter);
    Serial.print("  direction : ");
    Serial.println(dir);  
  }
  

  The rotary encoder has a resolution of six counts per revolution of the motor shaft. A motor driver with a break function is certainly required, plus PID control.

  Finally, I changed the motors, which is absolutely no problem. For this, only two screws have to be loosened with a small Phillips screwdriver.

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