From e1d84aed553bed90e246cd69a65e86dabc093491 Mon Sep 17 00:00:00 2001
From: Druva <f20220131@goa.bits-pilani.ac.in>
Date: Tue, 5 Mar 2024 21:23:12 +0530
Subject: [PATCH] Create Stepper_example.ino

---
 Stepper_example.ino | 79 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 Stepper_example.ino

diff --git a/Stepper_example.ino b/Stepper_example.ino
new file mode 100644
index 0000000..d7dfb4a
--- /dev/null
+++ b/Stepper_example.ino
@@ -0,0 +1,79 @@
+// Sample code to run the rotary encoder on a stepper motor
+// Use this to interface pid with rotary encoder output
+#include <Stepper.h>
+
+// change this to the number of steps on your motor
+#define STEPS 100
+
+// create an instance of the stepper class, specifying
+// the number of steps of the motor and the pins it's
+// attached to
+
+Stepper stepper(STEPS, 8, 9, 10, 11);
+
+// the previous reading from the analog input
+int previous = 0;
+
+//Rotary Encoder variables, set encoderPin1 and encoderPin2 as on the arduino
+int encoderPin1 = 2;
+int encoderPin2 = 3;
+volatile int lastEncoded = 0;
+volatile long encoderValue = 0;
+long lastencoderValue = 0;
+int lastMSB = 0;
+int lastLSB = 0;
+
+//Rotary Encoder Function
+void updateEncoder(){
+ int MSB = digitalRead(encoderPin1); //MSB = most significant bit
+ int LSB = digitalRead(encoderPin2); //LSB = least significant bit
+int encoded = (MSB << 1) |LSB; //converting the 2 pin value to single
+
+int sum = (lastEncoded << 2) | encoded; //adding it to the previous
+//encoded value
+ if(sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011)````
+encoderValue ++;
+ if(sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000)
+encoderValue --;
+ lastEncoded = encoded; //store this value for next time
+}
+
+
+void setup() {
+  //Rotary Encoder (no need to modify mp)
+ Serial.begin (9600);
+ pinMode(encoderPin1, INPUT);
+ pinMode(encoderPin2, INPUT);
+ digitalWrite(encoderPin1, HIGH); //turn pullup resistor on
+ digitalWrite(encoderPin2, HIGH); //turn pullup resistor on
+ 
+ //call updateEncoder() when any high/low changed seen
+ //on interrupt 0 (pin 2), or interrupt 1 (pin 3)
+ attachInterrupt(0, updateEncoder, CHANGE);
+ attachInterrupt(1, updateEncoder, CHANGE);
+
+
+//Stepper Motor part
+ // set the speed of the motor to 30 RPMs
+  stepper.setSpeed(30);
+
+Serial.begin(9600);
+
+}
+
+
+void loop() {
+
+Serial.println(encoderValue);
+//Stepper motor part
+  // get the sensor value
+  int val = analogRead(0);
+
+  // move a number of steps equal to the change in the
+  // sensor reading
+  stepper.step(val - previous);
+
+  // remember the previous value of the sensor
+  previous = val;
+  
+}