Make: Robotic Arms

149Chapter 8: Rotary Encoder Control

STEP 1: WIRING OUR ROTARY ENCODER

Now that we have wired our encoder, we can write a quick Arduino sketch

that will allow us to read the data coming from our encoder. This includes

the distance the encoder has been rotated in ticks, the direction in which

encoder’s knob was rotated, and the status of the internal button.

STEP 2: WRITING OUR ROTARYENCODER ARDUINO SKETCH

int DT = 11;

int CLK = 12;

int SW = 13;

int counter = 0;

int currentStateCLK;

int lastStateCLK;

void setup() {

pinMode(CLK, INPUT);

pinMode(DT, INPUT);

pinMode(SW, INPUT_PULLUP);

lastStateCLK = digitalRead(CLK);

Serial.begin(9600);

}

void loop() {

currentStateCLK ...