Arduino轮速传感器检测方向

问题描述：

我想开发一个轮子计数器，它决定了旋转速度和旋转方向。Arduino轮速传感器检测方向

我有两个磁性拾音器传感器靠得很近，两个金属块相距180度。

目前我已经能够测量旋转速度和它转换为距离，并显示距离看起来不错。下面是该代码：

volatile byte half_revolutions; 
volatile byte half_revolutions_b; 
volatile unsigned long last_time_a; 
volatile unsigned long last_time_b; 
volatile byte dir; 



unsigned int rpm; 
unsigned int rpm_b; 
unsigned long timeold; 
unsigned long timeold_b; 
unsigned long time_print; 

double distance = 0.0; 
void setup() 
{ 
Serial.begin(9600); 
attachInterrupt(0, rpm_fun, RISING); 
attachInterrupt(1, rpm_fun_b, RISING); 
half_revolutions = 0; 
half_revolutions_b = 0; 
rpm = 0; 
timeold = 0; 
timeold_b = 0; 
time_print = 0; 
dir = 1; 
} 

void loop() 
{ 
    int rpm_guess; 

    if (half_revolutions >= 2) 
    { 

    rpm = 30*1000/(millis() - timeold)*half_revolutions; 
    timeold = millis(); 
    half_revolutions = 0; 
    } 
    else if (millis() - timeold > 1000) 
    { 
     rpm = 0; 
    } 

    if (half_revolutions_b >= 2) 
    { 
    rpm_b = 30*1000/(millis() - timeold_b)*half_revolutions_b; 
    timeold_b = millis(); 
    half_revolutions_b = 0; 
    } 


    else if (millis() - timeold_b > 1000) 
    { 
     rpm_b = 0; 
    } 

    if (millis() - time_print > 500) 
    { 
    rpm_guess = ((int)rpm + (int)rpm_b)/2.0; 
    double rad_per_sec = (6.0*3.14159* rpm_guess)/180.0; 
    double metres_per_sec = rad_per_sec*0.038; 

    distance += metres_per_sec * 0.5; 
    Serial.print((int)last_time_b - (int)last_time_a); 
    Serial.print(","); 
    Serial.println(distance); 
    time_print = millis(); 
    } 


} 

void rpm_fun() 
{ 
    half_revolutions++; 
    last_time_a = micros(); 
    //Each rotation, this interrupt function is run twice 
} 

void rpm_fun_b() 
{ 

    half_revolutions_b++; 
    last_time_b = micros(); 
    //Each rotation, this interrupt function is run twice 
}

我希望用一个事实，即传感器A应导致传感器B如果为顺时针方向旋转，反之亦然，如果反时针方向。然而，我的逻辑似乎没有正常工作，Serial.print((int)last_time_b - (int)last_time_a);似乎在积极和消极之间切换，无论我旅行的方向如何。

我真的很感谢任何帮助。

答

我宁愿做方向的猜测在中断处理程序：

void rpm_fun() { 
    if (last_time_a > last_time_b) dir = 0; 
    else dir = 1; 
    half_revolutions++; 
    last_time_a = micros(); 
} 

void rpm_fun_b() { 
    if (last_time_a > last_time_b) dir = 0; 
    else dir = 1; 
    half_revolutions_b++; 
    last_time_b = micros(); 
}

如果出现“反弹”，你可以添加一些“debouncing”代码。

Arduino轮速传感器检测方向

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