// motor control pin

const int M1_F= 8; // L298 Input 1 // 엔코더 모터

const int M1_R= 9; // L298 Input 2

// encoder pin

const int encoderPinA=2;

const int encoderPinB=3;

long encoderPos1=0;

 

//

void M_STOP(){ digitalWrite(M1_F,0); digitalWrite(M1_R,0); }  //정지

void M_FWD() { digitalWrite(M1_F,1); digitalWrite(M1_R,0); }  //정회전

void M_BWD() { digitalWrite(M1_F,0); digitalWrite(M1_R,1); }  //역회전

//

void doEncoderA(){ encoderPos1+=(digitalRead(encoderPinA)==digitalRead(encoderPinB))? 1:-1; }

void doEncoderB(){ encoderPos1+=(digitalRead(encoderPinA)==digitalRead(encoderPinB))?-1: 1; }

//

void setup(){

  pinMode(M1_F,OUTPUT); pinMode(M1_R,OUTPUT);

  pinMode(encoderPinA,INPUT_PULLUP); attachInterrupt(0,doEncoderA,CHANGE);

  pinMode(encoderPinB,INPUT_PULLUP); attachInterrupt(1,doEncoderB,CHANGE);

  Serial.begin(9600);

}

//

void loop(){

  M_FWD();

  Serial.print("encoderPos1  : "); Serial.print(encoderPos1);

}