void encoder_init(){
encode_setup();
printf("SETUP DONE\n");
while(1){
int end = 0;
gettimeofday(&start, NULL);
oldpulse = pulse;
while(!end){
usleep(50000);
gettimeofday(¤tTime, NULL);
readRotary();
if (currentTime.tv_usec == 1000+start.tv_usec){
end = 1;
RPM = ((pulse - oldpulse) * 60)/resolution;
printf("RPM: %f\n", RPM);
}
}
}
}
void InterruptHandler( void) {
sec1000++;
dir = readRotary(); // the rotary encoder is read
state = state + dir; //the state is changed depending on the returned value
r1 = r1 + dir; //total number of adjustments updated
if (state == 15) //state 14 rolls over to state 0
state = 0;
if (state == -1) //state 0 rolls over to state 14
state = 14;
if (dir != 0) //if the direction is not zero (rotart moved)
{ //then the code in main runs.
go = 1;
}
if ((r1 <= -30) && (lock == 0) && (state == 11)) //the rotary needs to be moved
{ //30 times clockwise and be in state 11
lock++; //in order to increment lock the first time
r1 = 0; //the count is reset
}
if ((r1 >= 15) && (lock == 1) && (state == 2) && (r1 <= 30 )) //the rotary needs to be moved
{ //15 times counterclockwise but less
//than 30 times and be in
lock++; //state 2 to increment lock a second time
r1 = 0;
}
if ((r1 < 0) && (lock == 2) && (state == 13) && (r1 > -15)) //the rotary needs to be moved less than
{ //15 times clockwise to increment lock
lock = 3; // to 3
}
if ((lock == 3) && getRotary(3)) //once lock is incremented to 3 and
{ //the rotary pushbutton is pressed,
unlocked = 1; //then the status becomes unlocked
lock = 0;
}
mT2ClearIntFlag();
}
