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'[PIC]: Encoder Question'
2002\08\12@045830 by kben

picon face
Hi,
I am currently working on a small mobil robot platform
based on this twin motor gear box.
http://www2.towerhobbies.com/cgi-bin/wti0001p.pgm?Q=1&I=LXHA15&P=7

I plan on either hacking the slotted encoders from a mouse,
or using Roman's Encoder-less speed control.
http://www.romanblack.com/encoder.htm

I plan on using one F628 @ 4mhz and an one L293D to control
both motors. I assume using the int on change function for
port B would be the best way to measure the rotation of
both encoders ?  If I use int on change and both encoders change
will I continualy miss one int to service the other ?
Will this cause me to interpret the distance travled incorrectly ?

If anyone has suggestions or examples of a similiar project,
they would be appreciated.

Thanks,
Kevin

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2002\08\12@081618 by Alan B. Pearce

face picon face
>If I use int on change and both encoders change
>will I continualy miss one int to service the other ?
>Will this cause me to interpret the distance travled incorrectly ?

Using the "interrupt on change" feature has some specific gotcha's about it,
but depending on what you do with the other half of port B you may get away
with it.

If you have more than one encoder change state at the same time then
detection of both is a function of how you go about deciding which one
changed.

Hint - note that the interrupt on change only tells you that one of four
pins changed state, but not which one. Once you detect one change, it may
not be the only one.

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