HCR -PC 客户端开源
开源的文件连接在Google Code上。装了SVN的可以直接check out。Encoder Connection Diagramhttp://www.dfrobot.com/wiki/images/thumb/8/8e/Encoder_Connection.PNG/444px-Encoder_Connection.PNGEncoder Sampling Code ```const byte encoder0pinA = 2;//A pin -> the interrupt pin 0 const byte encoder0pinB = 4;//B pin -> the digital pin 4 byte encoder0PinALast; int duration;//the number of the pulses boolean Direction;//the rotation directionvoid setup() {Serial.begin(57600);//Initialize the serial port EncoderInit();//Initialize the module }void loop() { Serial.print("Pulse:"); Serial.println(duration); duration = 0; delay(500); }void EncoderInit() { Direction = true;//default -> Forward
pinMode(encoder0pinB,INPUT);
attachInterrupt(0, wheelSpeed, CHANGE); }void wheelSpeed() { int Lstate = digitalRead(encoder0pinA); if((encoder0PinALast == LOW) && Lstate==HIGH) { int val = digitalRead(encoder0pinB); if(val == LOW && Direction) { Direction = false; //Reverse } else if(val == HIGH && !Direction) { Direction = true; //Forward } } encoder0PinALast = Lstate;if(!Direction) duration++; else duration--; }```Open source home care robot from roboticfan.com欢迎大家看一下chai2010撰写的关于SVN的使用教程。非常浅显易懂！http://code.google.com/p/hcrobot/wiki/svn_tutorial
希望大家能在这基础上完善更新
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