{"id":1207,"date":"2021-05-01T19:08:19","date_gmt":"2021-05-01T11:08:19","guid":{"rendered":"http:\/\/mgspace.wiki\/docs\/?post_type=docs&#038;p=1207"},"modified":"2021-05-01T19:08:19","modified_gmt":"2021-05-01T11:08:19","slug":"%e7%bc%96%e7%a0%81%e5%99%a8","status":"publish","type":"docs","link":"http:\/\/mgspace.wiki\/docs\/?docs=%e7%bc%96%e7%a0%81%e5%99%a8","title":{"rendered":"\u7f16\u7801\u5668"},"content":{"rendered":"\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/2019\/11\/tutorial-for-interfacing-rotary-encoder-with-arduino.jpg\" alt=\"\u65cb\u8f6c\u7f16\u7801\u5668\u4e0earduino\u63a5\u53e3\u7684\u6559\u7a0b\"\/><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u65cb\u8f6c\u7f16\u7801\u5668\u662f\u4e00\u79cd\u4f4d\u7f6e\u4f20\u611f\u5668\uff0c\u53ef\u5c06\u65cb\u94ae\u7684\u89d2\u4f4d\u7f6e\uff08\u65cb\u8f6c\uff09\u8f6c\u6362\u4e3a\u7528\u4e8e\u786e\u5b9a\u65cb\u94ae\u65cb\u8f6c\u65b9\u5411\u7684\u8f93\u51fa\u4fe1\u53f7\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7531\u4e8e\u5176\u575a\u56fa\u6027\u548c\u826f\u597d\u7684\u6570\u5b57\u63a7\u5236\uff1b\u5b83\u4eec\u88ab\u7528\u4e8e\u8bb8\u591a\u5e94\u7528\u4e2d\uff0c\u5305\u62ec\u673a\u5668\u4eba\u6280\u672f\uff0cCNC\u673a\u5668\u548c\u6253\u5370\u673a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u65cb\u8f6c\u7f16\u7801\u5668\u6709\u4e24\u79cd\u7c7b\u578b-\u7edd\u5bf9\u5f0f\u548c\u589e\u91cf\u5f0f\u3002\u7edd\u5bf9\u7f16\u7801\u5668\u4e3a\u6211\u4eec\u63d0\u4f9b\u65cb\u94ae\u7684\u7cbe\u786e\u4f4d\u7f6e\uff08\u4ee5\u5ea6\u4e3a\u5355\u4f4d\uff09\uff0c\u800c\u589e\u91cf\u7f16\u7801\u5668\u62a5\u544a\u8f74\u5df2\u79fb\u52a8\u4e86\u591a\u5c11\u589e\u91cf\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u6559\u7a0b\u4e2d\u4f7f\u7528\u7684\u65cb\u8f6c\u7f16\u7801\u5668\u4e3a<strong>\u589e\u91cf<\/strong>\u578b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"rotary-encoders-vs-potentiometers\">\u65cb\u8f6c\u7f16\u7801\u5668\u4e0e\u7535\u4f4d\u5668<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u65cb\u8f6c\u7f16\u7801\u5668\u662f\u7535\u4f4d\u8ba1\u7684\u73b0\u4ee3\u6570\u5b57\u7b49\u6548\u4ea7\u54c1\uff0c\u6bd4\u7535\u4f4d\u8ba1\u529f\u80fd\u66f4\u5e7f\u6cdb\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u4eec\u53ef\u4ee5\u5b8c\u5168\u65cb\u8f6c\u800c\u65e0\u6b62\u6321\uff0c\u800c\u7535\u4f4d\u8ba1\u53ea\u80fd\u65cb\u8f6c\u5927\u7ea63\/4\u7684\u5706\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7535\u4f4d\u5668\u6700\u9002\u5408\u60a8\u9700\u8981\u4e86\u89e3\u65cb\u94ae\u786e\u5207\u4f4d\u7f6e\u7684\u60c5\u51b5\u3002\u4f46\u662f\uff0c\u5728\u60a8\u9700\u8981\u77e5\u9053\u4f4d\u7f6e\u53d8\u5316\u800c\u4e0d\u662f\u786e\u5207\u4f4d\u7f6e\u7684\u60c5\u51b5\u4e0b\uff0c\u65cb\u8f6c\u7f16\u7801\u5668\u662f\u6700\u597d\u7684\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"how-rotary-encoders-work\">\u65cb\u8f6c\u7f16\u7801\u5668\u5982\u4f55\u5de5\u4f5c<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u7f16\u7801\u5668\u5185\u90e8\u662f\u4e00\u4e2a\u4e0e\u516c\u5171\u63a5\u5730\u5f15\u811aC\u4ee5\u53ca\u4e24\u4e2a\u63a5\u89e6\u5f15\u811aA\u548cB\u8fde\u63a5\u7684\u5e26\u69fd\u78c1\u76d8\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/rotary-encoder-internal-structure.png\" alt=\"\u65cb\u8f6c\u7f16\u7801\u5668\u5185\u90e8\u7ed3\u6784\"\/><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u65cb\u8f6c\u65cb\u94ae\u65f6\uff0cA\u548cB\u6839\u636e\u65cb\u8f6c\u65cb\u94ae\u7684\u65b9\u5411\u4ee5\u7279\u5b9a\u987a\u5e8f\u4e0e\u516c\u5171\u63a5\u5730\u5f15\u811aC\u63a5\u89e6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53\u5b83\u4eec\u63a5\u89e6\u516c\u5171\u63a5\u5730\u65f6\uff0c\u5b83\u4eec\u4f1a\u4ea7\u751f\u4fe1\u53f7\u3002\u5f53\u4e00\u4e2a\u5f15\u811a\u5148\u4e8e\u53e6\u4e00\u4e2a\u5f15\u811a\u63a5\u89e6\u65f6\uff0c\u8fd9\u4e9b\u4fe1\u53f7\u4f1a\u5f7c\u6b64\u9519\u5f0090\u00b0\u76f8\u4f4d\u3002\u8fd9\u79f0\u4e3a<strong>\u6b63\u4ea4\u7f16\u7801<\/strong>\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/rotary-encoder-working-animation.gif\" alt=\"\u65cb\u8f6c\u7f16\u7801\u5668\u5de5\u4f5canimation.gif\"\/><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u987a\u65f6\u9488\u65cb\u8f6c\u65cb\u94ae\u65f6\uff0c\u9996\u5148\u8fde\u63a5A\u5f15\u811a\uff0c\u7136\u540e\u8fde\u63a5B\u5f15\u811a\u3002\u9006\u65f6\u9488\u65cb\u8f6c\u65cb\u94ae\u65f6\uff0c\u9996\u5148\u8fde\u63a5B\u5f15\u811a\uff0c\u7136\u540e\u8fde\u63a5A\u5f15\u811a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u901a\u8fc7\u8ddf\u8e2a\u6bcf\u4e2a\u5f15\u811a\u4f55\u65f6\u4e0e\u5730\u9762\u8fde\u63a5\u548c\u4e0e\u5730\u9762\u65ad\u5f00\u8fde\u63a5\uff0c\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u8fd9\u4e9b\u4fe1\u53f7\u53d8\u5316\u6765\u786e\u5b9a\u65cb\u94ae\u7684\u65cb\u8f6c\u65b9\u5411\u3002\u60a8\u53ef\u4ee5\u901a\u8fc7\u5728A\u66f4\u6539\u72b6\u6001\u65f6\u7b80\u5355\u5730\u89c2\u5bdfB\u7684\u72b6\u6001\u6765\u505a\u5230\u8fd9\u4e00\u70b9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53A\u66f4\u6539\u72b6\u6001\u65f6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>\u5982\u679cB\uff01= A\uff0c\u5219\u5c06\u65cb\u94ae\u987a\u65f6\u9488\u65cb\u8f6c\u3002<img loading=\"lazy\" decoding=\"async\" width=\"489\" height=\"135\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/rotary-encoder-output-pulses-in-clockwise-rotation.png\" alt=\"\u987a\u65f6\u9488\u65cb\u8f6c\u65cb\u8f6c\u7f16\u7801\u5668\u8f93\u51fa\u8109\u51b2\"><\/li><li>\u5982\u679cB = A\uff0c\u5219\u5c06\u65cb\u94ae\u9006\u65f6\u9488\u65cb\u8f6c\u3002<img loading=\"lazy\" decoding=\"async\" width=\"492\" height=\"134\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/rotary-encoder-output-pulses-in-anticlockwise-rotation.png\" alt=\"\u65cb\u8f6c\u7f16\u7801\u5668\u8f93\u51fa\u8109\u51b2\u9006\u65f6\u9488\u65cb\u8f6c\"><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"rotary-encoder-pinout\">\u65cb\u8f6c\u7f16\u7801\u5668\u5f15\u811a\u6392\u5217<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u65cb\u8f6c\u7f16\u7801\u5668\u7684\u5f15\u811a\u6392\u5217\u5982\u4e0b\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/rotary-encoder-module-pinout.png\" alt=\"\u65cb\u8f6c\u7f16\u7801\u5668\u6a21\u5757\u7684\u5f15\u811a\u6392\u5217\"\/><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u5730\u7ebf&nbsp;\u662f\u63a5\u5730\u8fde\u63a5\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">VCC&nbsp;\u662f\u6b63\u7535\u6e90\u7535\u538b\uff0c\u901a\u5e38\u4e3a3.3\u62165\u4f0f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u897f\u5357\u662f\u4f4e\u7535\u5e73\u6709\u6548\u7684\u6309\u94ae\u5f00\u5173\u8f93\u51fa\u3002\u6309\u4e0b\u65cb\u94ae\u65f6\uff0c\u7535\u538b\u53d8\u4f4e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">DT\uff08\u8f93\u51faB\uff09\u4e0eCLK\u8f93\u51fa\u76f8\u540c\uff0c\u4f46\u6bd4CLK\u6ede\u540e90\u00b0\u3002\u8be5\u8f93\u51fa\u53ef\u7528\u4e8e\u786e\u5b9a\u65cb\u8f6c\u65b9\u5411\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">CLK\uff08\u8f93\u51faA\uff09\u662f\u786e\u5b9a\u65cb\u8f6c\u91cf\u7684\u4e3b\u8981\u8f93\u51fa\u8109\u51b2\u3002\u6bcf\u6b21\u5c06\u65cb\u94ae\u5411\u4efb\u4e00\u65b9\u5411\u65cb\u8f6c\u4e00\u4e2ade\u5b50\uff08\u5355\u51fb\uff09\uff0c\u201c CLK\u201d\u8f93\u51fa\u90fd\u4f1a\u7ecf\u8fc7\u4e00\u4e2a\u5148\u53d8\u9ad8\u7136\u540e\u518d\u53d8\u4f4e\u7684\u5468\u671f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"wiring-connecting-rotary-encoder-to-arduino-\">\u63a5\u7ebf\u2013\u5c06\u65cb\u8f6c\u7f16\u7801\u5668\u8fde\u63a5\u5230Arduino<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u73b0\u5728\u6211\u4eec\u5df2\u7ecf\u4e86\u89e3\u4e86\u65cb\u8f6c\u7f16\u7801\u5668\u7684\u6240\u6709\u77e5\u8bc6\uff0c\u73b0\u5728\u8be5\u4f7f\u7528\u5b83\u4e86\uff01<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8ba9\u6211\u4eec\u5c06\u65cb\u8f6c\u7f16\u7801\u5668\u8fde\u63a5\u5230Arduino\u3002\u8fde\u63a5\u975e\u5e38\u7b80\u5355\u3002\u9996\u5148\u5c06\u6a21\u5757\u4e0a\u7684+ V\u5f15\u811a\u8fde\u63a5\u5230Arduino\u4e0a\u76845V\uff0c\u5e76\u5c06GND\u5f15\u811a\u63a5\u5730\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u73b0\u5728\u5c06CLK\u548cDT\u5f15\u811a\u5206\u522b\u8fde\u63a5\u5230\u6570\u5b57\u5f15\u811a2\u548c3\u3002\u6700\u540e\uff0c\u5c06SW\u5f15\u811a\u8fde\u63a5\u5230\u6570\u5b57\u5f15\u811a4\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u56fe\u663e\u793a\u4e86\u63a5\u7ebf\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/wiring-rotary-encoder-with-arduino-uno.png\" alt=\"arduino uno\u63a5\u7ebf\u65cb\u8f6c\u7f16\u7801\u5668\"\/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"arduino-code-reading-rotary-encoders\">Arduino\u4ee3\u7801\u2013\u8bfb\u53d6\u65cb\u8f6c\u7f16\u7801\u5668<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u73b0\u5728\uff0c\u60a8\u5df2\u7ecf\u8fde\u63a5\u4e86\u7f16\u7801\u5668\uff0c\u60a8\u5c06\u9700\u8981\u4e00\u4e2a\u8349\u56fe\u4ee5\u4f7f\u5176\u5168\u90e8\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u56fe\u663e\u793a\u4e86\u4f55\u65f6\u65cb\u8f6c\u7f16\u7801\u5668\uff0c\u786e\u5b9a\u65cb\u8f6c\u65b9\u5411\u4ee5\u53ca\u662f\u5426\u6309\u4e0b\u4e86\u6309\u94ae\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5c1d\u8bd5\u4e00\u4e0b\u8349\u56fe\uff1b\u7136\u540e\u6211\u4eec\u5c06\u5bf9\u5176\u8fdb\u884c\u8be6\u7ec6\u5256\u6790\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">\/\/ Rotary Encoder Inputs\n#define CLK 2\n#define DT 3\n#define SW 4\n\nint counter = 0;\nint currentStateCLK;\nint lastStateCLK;\nString currentDir =\"\";\nunsigned long lastButtonPress = 0;\n\nvoid setup() {\n\t\n\t\/\/ Set encoder pins as inputs\n\tpinMode(CLK,INPUT);\n\tpinMode(DT,INPUT);\n\tpinMode(SW, INPUT_PULLUP);\n\n\t\/\/ Setup Serial Monitor\n\tSerial.begin(9600);\n\n\t\/\/ Read the initial state of CLK\n\tlastStateCLK = digitalRead(CLK);\n}\n\nvoid loop() {\n\t\n\t\/\/ Read the current state of CLK\n\tcurrentStateCLK = digitalRead(CLK);\n\n\t\/\/ If last and current state of CLK are different, then pulse occurred\n\t\/\/ React to only 1 state change to avoid double count\n\tif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){\n\n\t\t\/\/ If the DT state is different than the CLK state then\n\t\t\/\/ the encoder is rotating CCW so decrement\n\t\tif (digitalRead(DT) != currentStateCLK) {\n\t\t\tcounter --;\n\t\t\tcurrentDir =\"CCW\";\n\t\t} else {\n\t\t\t\/\/ Encoder is rotating CW so increment\n\t\t\tcounter ++;\n\t\t\tcurrentDir =\"CW\";\n\t\t}\n\n\t\tSerial.print(\"Direction: \");\n\t\tSerial.print(currentDir);\n\t\tSerial.print(\" | Counter: \");\n\t\tSerial.println(counter);\n\t}\n\n\t\/\/ Remember last CLK state\n\tlastStateCLK = currentStateCLK;\n\n\t\/\/ Read the button state\n\tint btnState = digitalRead(SW);\n\n\t\/\/If we detect LOW signal, button is pressed\n\tif (btnState == LOW) {\n\t\t\/\/if 50ms have passed since last LOW pulse, it means that the\n\t\t\/\/button has been pressed, released and pressed again\n\t\tif (millis() - lastButtonPress > 50) {\n\t\t\tSerial.println(\"Button pressed!\");\n\t\t}\n\n\t\t\/\/ Remember last button press event\n\t\tlastButtonPress = millis();\n\t}\n\n\t\/\/ Put in a slight delay to help debounce the reading\n\tdelay(1);\n}<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u4e00\u5207\u6b63\u5e38\uff0c\u60a8\u5e94\u8be5\u5728\u4e32\u884c\u76d1\u89c6\u5668\u4e0a\u770b\u5230\u4ee5\u4e0b\u8f93\u51fa\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/rotary-encoder-output-on-serial-monitor.png\" alt=\"\u4e32\u884c\u76d1\u89c6\u5668\u4e0a\u7684\u65cb\u8f6c\u7f16\u7801\u5668\u8f93\u51fa\"\/><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u62a5\u544a\u7684\u65cb\u8f6c\u4e0e\u60a8\u671f\u671b\u7684\u76f8\u53cd\uff0c\u8bf7\u5c1d\u8bd5\u4ea4\u6362CLK\u548cDT\u7ebf\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4ee3\u7801\u8bf4\u660e\uff1a<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8349\u56fe\u4ece\u58f0\u660e\u7f16\u7801\u5668\u7684CLK\uff0cDT\u548cSW\u5f15\u811a\u8fde\u63a5\u5230\u7684Arduino\u5f15\u811a\u5f00\u59cb\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#define CLK 2\n#define DT 3\n#define SW 4<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u63a5\u4e0b\u6765\uff0c\u5b9a\u4e49\u4e00\u4e9b\u6574\u6570\u3002\u8be5<code>counter<\/code>\u53d8\u91cf\u8868\u793a\u6bcf\u6b21\u5c06\u65cb\u94ae\u65cb\u8f6c\u4e00\u4e2a\u5b9a\u4f4d\u5668\uff08\u5355\u51fb\uff09\u65f6\u5c06\u4fee\u6539\u7684\u8ba1\u6570\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7684<code>currentStateCLK<\/code>\u548c<code>lastStateCLK<\/code>\u7684\u53d8\u91cf\u4fdd\u6301CLK\u8f93\u51fa\u7684\u72b6\u6001\uff0c\u5e76\u4e14\u88ab\u7528\u4e8e\u786e\u5b9a\u65cb\u8f6c\u91cf\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>currentDir<\/code>\u5728\u4e32\u884c\u76d1\u89c6\u5668\u4e0a\u6253\u5370\u5f53\u524d\u65cb\u8f6c\u65b9\u5411\u65f6\uff0c\u5c06\u4f7f\u7528\u4e00\u4e2a\u79f0\u4e3a\u7684\u5b57\u7b26\u4e32\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5<code>lastButtonPress<\/code>\u53d8\u91cf\u7528\u4e8e\u6d88\u9664\u5f00\u5173\u7684\u6296\u52a8\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">int counter = 0;\nint currentStateCLK;\nint lastStateCLK;\nString currentDir =\"\";\nunsigned long lastButtonPress = 0;<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u73b0\u5728\uff0c\u5728\u201c\u8bbe\u7f6e\u201d\u90e8\u5206\uff0c\u6211\u4eec\u9996\u5148\u5c06\u4e0e\u7f16\u7801\u5668\u7684\u8fde\u63a5\u5b9a\u4e49\u4e3a\u8f93\u5165\uff0c\u7136\u540e\u5728SW\u5f15\u811a\u4e0a\u542f\u7528\u8f93\u5165\u4e0a\u62c9\u7535\u963b\u3002\u6211\u4eec\u8fd8\u8bbe\u7f6e\u4e86\u4e32\u884c\u76d1\u89c6\u5668\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u540e\uff0c\u6211\u4eec\u8bfb\u53d6CLK\u5f15\u811a\u7684\u5f53\u524d\u503c\u5e76\u5c06\u5176\u5b58\u50a8\u5728<code>lastStateCLK<\/code>\u53d8\u91cf\u4e2d\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">pinMode(CLK,INPUT);\npinMode(DT,INPUT);\npinMode(SW, INPUT_PULLUP);\n\nSerial.begin(9600);\n\nlastStateCLK = digitalRead(CLK);<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5faa\u73af\u90e8\u5206\uff0c\u6211\u4eec\u518d\u6b21\u68c0\u67e5CLK\u72b6\u6001\u5e76\u5c06\u5176\u4e0e\u8be5<code>lastStateCLK<\/code>\u503c\u8fdb\u884c\u6bd4\u8f83\u3002\u5982\u679c\u5b83\u4eec\u4e0d\u540c\uff0c\u5219\u610f\u5473\u7740\u65cb\u94ae\u5df2\u65cb\u8f6c\u4e14\u53d1\u751f\u4e86\u8109\u51b2\u3002\u6211\u4eec\u8fd8\u68c0\u67e5\u7684\u503c\u662f\u5426<code>currentStateCLK<\/code>\u4e3a1\uff0c\u4ee5\u4fbf\u4ec5\u5bf9\u4e00\u4e2a\u72b6\u6001\u66f4\u6539\u505a\u51fa\u53cd\u5e94\uff0c\u4ee5\u907f\u514d\u91cd\u590d\u8ba1\u6570\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">currentStateCLK = digitalRead(CLK);\n\nif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728if\u8bed\u53e5\u4e2d\uff0c\u6211\u4eec\u786e\u5b9a\u65cb\u8f6c\u65b9\u5411\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u53ea\u9700\u8bfb\u53d6\u7f16\u7801\u5668\u6a21\u5757\u4e0a\u7684DT\u5f15\u811a\uff0c\u5e76\u5c06\u5176\u4e0eCLK\u5f15\u811a\u7684\u5f53\u524d\u72b6\u6001\u8fdb\u884c\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u5b83\u4eec\u4e0d\u540c\uff0c\u5219\u8868\u793a\u65cb\u94ae\u9006\u65f6\u9488\u65cb\u8f6c\u3002\u7136\u540e\uff0c\u6211\u4eec\u9012\u51cf\u8ba1\u6570\u5668\uff0c\u5e76\u5c06\u5176\u8bbe\u7f6e<code>currentDir<\/code>\u4e3a\u201c CCW\u201d\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u4e24\u4e2a\u503c\u76f8\u540c\uff0c\u5219\u8868\u793a\u65cb\u94ae\u987a\u65f6\u9488\u65cb\u8f6c\u3002\u7136\u540e\uff0c\u6211\u4eec\u589e\u52a0\u8ba1\u6570\u5668\u5e76\u8bbe\u7f6e<code>currentDir<\/code>\u4e3a\u201c CW\u201d\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">if (digitalRead(DT) != currentStateCLK) {\n    counter --;\n    currentDir =\"CCW\";\n} else {\n    counter ++;\n    currentDir =\"CW\";\n}<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u7136\u540e\uff0c\u6211\u4eec\u5c06\u7ed3\u679c\u6253\u5370\u5728\u4e32\u884c\u76d1\u89c6\u5668\u4e0a\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">Serial.print(\"Direction: \");\nSerial.print(currentDir);\nSerial.print(\" | Counter: \");\nSerial.println(counter);<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728if\u8bed\u53e5\u4e4b\u5916\uff0c\u6211\u4eec<code>lastStateCLK<\/code>\u4ee5CLK\u7684\u5f53\u524d\u72b6\u6001\u66f4\u65b0\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">lastStateCLK = currentStateCLK;<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u63a5\u4e0b\u6765\u662f\u8bfb\u53d6\u548c\u53cd\u8df3\u6309\u94ae\u5f00\u5173\u7684\u903b\u8f91\u3002\u6211\u4eec\u9996\u5148\u8bfb\u53d6\u5f53\u524d\u6309\u94ae\u72b6\u6001\uff0c\u5982\u679c\u8be5\u72b6\u6001\u4e3aLOW\uff0c\u5219\u7b49\u5f8550ms\u6765\u6d88\u9664\u6309\u94ae\u7684\u53cd\u8df3\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u6309\u94ae\u4fdd\u6301\u4f4e\u7535\u5e73\u7684\u65f6\u95f4\u8d85\u8fc750\u6beb\u79d2\uff0c\u6211\u4eec\u5c06\u6253\u5370\u201c\u6309\u94ae\u6309\u4e0b\uff01\u201d&nbsp;\u4e32\u884c\u76d1\u89c6\u5668\u4e0a\u663e\u793a\u6d88\u606f\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">int btnState = digitalRead(SW);\n\nif (btnState == LOW) {\n    if (millis() - lastButtonPress > 50) {\n        Serial.println(\"Button pressed!\");\n    }\n    lastButtonPress = millis();\n}<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u7136\u540e\uff0c\u6211\u4eec\u91cd\u65b0\u505a\u4e00\u904d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"arduino-code-using-interrupts\">Arduino\u4ee3\u7801\u2013\u4f7f\u7528\u4e2d\u65ad<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3a\u4e86\u4f7f\u65cb\u8f6c\u7f16\u7801\u5668\u6b63\u5e38\u5de5\u4f5c\uff0c\u6211\u4eec\u9700\u8981\u8fde\u7eed\u76d1\u89c6DT\u548cCLK\u4fe1\u53f7\u7684\u53d8\u5316\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3a\u4e86\u786e\u5b9a\u4f55\u65f6\u53d1\u751f\u6b64\u7c7b\u66f4\u6539\uff0c\u6211\u4eec\u53ef\u4ee5\u8fde\u7eed\u5730\u5bf9\u5176\u8fdb\u884c\u8f6e\u8be2\uff08\u5c31\u50cf\u5728\u4e0a\u4e00\u4e2a\u8349\u56fe\u4e2d\u6240\u505a\u7684\u90a3\u6837\uff09\u3002\u4f46\u662f\uff0c\u7531\u4e8e\u4ee5\u4e0b\u539f\u56e0\uff0c\u8fd9\u4e0d\u662f\u6700\u4f73\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>\u6211\u4eec\u5fc5\u987b\u5fd9\u4e8e\u6267\u884c\u68c0\u67e5\u4ee5\u67e5\u770b\u503c\u662f\u5426\u5df2\u66f4\u6539\u3002\u5982\u679c\u4fe1\u53f7\u7535\u5e73\u4e0d\u53d8\uff0c\u5219\u4f1a\u6d6a\u8d39\u5468\u671f\u3002<\/li><li>\u4ece\u4e8b\u4ef6\u53d1\u751f\u5230\u68c0\u67e5\u7684\u65f6\u95f4\u90fd\u4f1a\u6709\u6240\u5ef6\u8fdf\u3002\u5982\u679c\u6211\u4eec\u9700\u8981\u7acb\u5373\u505a\u51fa\u53cd\u5e94\uff0c\u6211\u4eec\u5c06\u88ab\u6b64\u5ef6\u8fdf\u6240\u5ef6\u8fdf\u3002<\/li><li>\u5982\u679c\u66f4\u6539\u7684\u6301\u7eed\u65f6\u95f4\u5f88\u77ed\uff0c\u5219\u53ef\u80fd\u4f1a\u5b8c\u5168\u9519\u8fc7\u4fe1\u53f7\u66f4\u6539\u3002<\/li><\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5e7f\u6cdb\u91c7\u7528\u7684\u89e3\u51b3\u65b9\u6848\u662f\u4f7f\u7528<strong>\u4e2d\u65ad<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6709\u4e2d\u65ad\u60a8\u65e0\u9700\u6301\u7eed\u8f6e\u8be2\u7279\u5b9a\u4e8b\u4ef6\u3002\u8fd9\u4f7fArduino\u817e\u51fa\u4e86\u65f6\u95f4\u6765\u5b8c\u6210\u5176\u4ed6\u5de5\u4f5c\uff0c\u540c\u65f6\u53c8\u4e0d\u4f1a\u9519\u8fc7\u8be5\u4e8b\u4ef6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u63a5\u7ebf<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u7531\u4e8e\u5927\u591a\u6570Arduino\uff08\u5305\u62ecArduino UNO\uff09\u53ea\u6709\u4e24\u4e2a\u5916\u90e8\u4e2d\u65ad\uff0c\u56e0\u6b64\u6211\u4eec\u53ea\u80fd\u76d1\u89c6DT\u548cCLK\u4fe1\u53f7\u7684\u53d8\u5316\u3002\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\u6211\u4eec\u4ece\u5148\u524d\u7684\u63a5\u7ebf\u56fe\u4e2d\u5220\u9664\u4e86SW\u5f15\u811a\u7684\u8fde\u63a5\u7684\u539f\u56e0\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6240\u4ee5\u73b0\u5728\u63a5\u7ebf\u770b\u8d77\u6765\u50cf\u8fd9\u6837\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/control-rotary-encoder-using-interrupts-with-arduino-uno.png\" alt=\"\u4f7f\u7528\u5e26\u6709arduino uno\u7684\u4e2d\u65ad\u6765\u63a7\u5236\u65cb\u8f6c\u7f16\u7801\u5668\"\/><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e00\u4e9b\u677f\u5361\uff08\u4f8b\u5982Arduino Mega 2560\uff09\u5177\u6709\u66f4\u591a\u7684\u5916\u90e8\u4e2d\u65ad\u3002\u5982\u679c\u6709\u5176\u4e2d\u4e4b\u4e00\uff0c\u5219\u53ef\u4ee5\u4fdd\u7559SW\u5f15\u811a\u7684\u8fde\u63a5\uff0c\u5e76\u5728\u8349\u56fe\u4e0b\u65b9\u5ef6\u4f38\u4ee5\u5305\u62ec\u6309\u94ae\u7684\u4ee3\u7801\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Arduino\u4ee3\u7801<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u662f\u6f14\u793a\u5728\u8bfb\u53d6\u65cb\u8f6c\u7f16\u7801\u5668\u65f6\u4f7f\u7528\u4e2d\u65ad\u7684\u793a\u610f\u56fe\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">\/\/ Rotary Encoder Inputs\n#define CLK 2\n#define DT 3\n\nint counter = 0;\nint currentStateCLK;\nint lastStateCLK;\nString currentDir =\"\";\n\nvoid setup() {\n\t\n\t\/\/ Set encoder pins as inputs\n\tpinMode(CLK,INPUT);\n\tpinMode(DT,INPUT);\n\n\t\/\/ Setup Serial Monitor\n\tSerial.begin(9600);\n\n\t\/\/ Read the initial state of CLK\n\tlastStateCLK = digitalRead(CLK);\n\t\n\t\/\/ Call updateEncoder() when any high\/low changed seen\n\t\/\/ on interrupt 0 (pin 2), or interrupt 1 (pin 3)\n\tattachInterrupt(0, updateEncoder, CHANGE);\n\tattachInterrupt(1, updateEncoder, CHANGE);\n}\n\nvoid loop() {\n\t\/\/Do some useful stuff here\n}\n\nvoid updateEncoder(){\n\t\/\/ Read the current state of CLK\n\tcurrentStateCLK = digitalRead(CLK);\n\n\t\/\/ If last and current state of CLK are different, then pulse occurred\n\t\/\/ React to only 1 state change to avoid double count\n\tif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){\n\n\t\t\/\/ If the DT state is different than the CLK state then\n\t\t\/\/ the encoder is rotating CCW so decrement\n\t\tif (digitalRead(DT) != currentStateCLK) {\n\t\t\tcounter --;\n\t\t\tcurrentDir =\"CCW\";\n\t\t} else {\n\t\t\t\/\/ Encoder is rotating CW so increment\n\t\t\tcounter ++;\n\t\t\tcurrentDir =\"CW\";\n\t\t}\n\n\t\tSerial.print(\"Direction: \");\n\t\tSerial.print(currentDir);\n\t\tSerial.print(\" | Counter: \");\n\t\tSerial.println(counter);\n\t}\n\n\t\/\/ Remember last CLK state\n\tlastStateCLK = currentStateCLK;\n}<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bf7\u6ce8\u610f\uff0c\u8be5\u7a0b\u5e8f\u7684\u4e3b\u5faa\u73af\u4fdd\u6301\u4e3a\u7a7a\uff0c\u56e0\u6b64Arduino\u5c06\u65e0\u6240\u4e8b\u4e8b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u540c\u65f6\uff0c\u8be5\u7a0b\u5e8f\u76d1\u89c6\u6570\u5b57\u5f15\u811a2\uff08\u5bf9\u5e94\u4e8e\u4e2d\u65ad0\uff09\u548c\u6570\u5b57\u5f15\u811a3\uff08\u5bf9\u5e94\u4e8e\u4e2d\u65ad1\uff09\u7684\u503c\u53d8\u5316\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u5b83\u4f1a\u5bfb\u627e\u7535\u538b\u53d8\u5316\uff0c\u4ece\u9ad8\u5230\u4f4e\u6216\u4ece\u4f4e\u5230\u9ad8\uff0c\u8fd9\u662f\u5728\u60a8\u65cb\u8f6c\u65cb\u94ae\u65f6\u53d1\u751f\u7684\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u53d1\u751f\u8fd9\u79cd\u60c5\u51b5\u65f6\uff0c\u5c06<code>updateEncoder<\/code>\u8c03\u7528\u8be5\u51fd\u6570\uff08\u901a\u5e38\u79f0\u4e3a<strong>\u4e2d\u65ad\u670d\u52a1\u4f8b\u7a0b<\/strong>\u6216\u4ec5\u79f0\u4e3a<strong>ISR<\/strong>\uff09\u3002\u6267\u884c\u6b64\u51fd\u6570\u4e2d\u7684\u4ee3\u7801\uff0c\u7136\u540e\u7a0b\u5e8f\u8fd4\u56de\u5230\u4e4b\u524d\u7684\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u4e24\u884c\u8d1f\u8d23\u6240\u6709\u8fd9\u4e00\u5207\u3002\u8be5\u51fd\u6570<code>attachInterrupt()<\/code>\u544a\u8bc9Arduino\u76d1\u89c6\u54ea\u4e2a\u5f15\u811a\uff0c\u5982\u679c\u89e6\u53d1\u4e86\u4e2d\u65ad\u5219\u6267\u884c\u54ea\u4e2aISR\u4ee5\u53ca\u5bfb\u627e\u54ea\u79cd\u7c7b\u578b\u7684\u89e6\u53d1\u5668\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">attachInterrupt(0, updateEncoder, CHANGE);\nattachInterrupt(1, updateEncoder, CHANGE);<\/pre>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"control-servo-motor-with-rotary-encoder\">\u5e26\u65cb\u8f6c\u7f16\u7801\u5668\u7684\u63a7\u5236\u4f3a\u670d\u7535\u673a<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u4e0b\u4e00\u4e2a\u9879\u76ee\u4e2d\uff0c\u6211\u4eec\u5c06\u4f7f\u7528\u65cb\u8f6c\u7f16\u7801\u5668\u6765\u63a7\u5236\u4f3a\u670d\u7535\u673a\u7684\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u9879\u76ee\u5728\u8bb8\u591a\u60c5\u51b5\u4e0b\u90fd\u975e\u5e38\u6709\u7528\uff0c\u4f8b\u5982\uff0c\u5f53\u60a8\u8981\u64cd\u4f5c\u673a\u5668\u4eba\u624b\u81c2\u65f6\uff0c\u56e0\u4e3a\u5b83\u53ef\u4ee5\u8ba9\u60a8\u7cbe\u786e\u5b9a\u4f4d\u624b\u81c2\u53ca\u5176\u63e1\u6301\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u63a5\u7ebf<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u63a5\u7ebf\u56fe\u6240\u793a\uff0c\u60a8\u5c06\u9700\u8981\u4e00\u53f0\u4f3a\u670d\u7535\u52a8\u673a\u3002\u5c06\u4f3a\u670d\u7535\u673a\u7684\u7ea2\u8272\u7ebf\u8fde\u63a5\u5230\u5916\u90e85V\u7535\u6e90\uff0c\u5c06\u9ed1\u8272\/\u68d5\u8272\u7ebf\u63a5\u5730\uff0c\u5e76\u5c06\u6a59\u8272\/\u9ec4\u8272\u7ebf\u8fde\u63a5\u5230PWM\u4f7f\u80fd\u5f15\u811a9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53\u7136\uff0c\u60a8\u53ef\u4ee5\u4f7f\u7528Arduino 5V\u8f93\u51fa\uff0c\u4f46\u662f\u8bf7\u8bb0\u4f4f\uff0c\u4f3a\u670d\u5668\u53ef\u80fd\u4f1a\u5728Arduino\u4f7f\u7528\u76845V\u7ebf\u4e0a\u611f\u5e94\u7535\u566a\u58f0\uff0c\u8fd9\u53ef\u80fd\u4e0d\u662f\u60a8\u60f3\u8981\u7684\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u56e0\u6b64\uff0c\u5efa\u8bae\u60a8\u4f7f\u7528\u5916\u90e8\u7535\u6e90\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lastminuteengineers.com\/wp-content\/uploads\/arduino\/wiring-for-controlling-servo-motor-with-rotary-encoder.png\" alt=\"\u7528\u4e8e\u63a7\u5236\u5e26\u6709\u65cb\u8f6c\u7f16\u7801\u5668\u7684\u4f3a\u670d\u7535\u673a\u7684\u63a5\u7ebf\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Arduino\u4ee3\u7801<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u662f\u4f7f\u7528\u65cb\u8f6c\u7f16\u7801\u5668\u7cbe\u786e\u63a7\u5236\u4f3a\u670d\u7535\u673a\u7684\u793a\u610f\u56fe\u3002\u6bcf\u6b21\u65cb\u8f6c\u65cb\u94ae\u4e00\u4e2a\u68d8\u722a\uff08\u5494\u55d2\u4e00\u58f0\uff09\uff0c\u4f3a\u670d\u81c2\u7684\u4f4d\u7f6e\u5c06\u6539\u53d8\u4e00\u5ea6\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">\/\/ Include the Servo Library\n#include &lt;Servo.h>\n\n\/\/ Rotary Encoder Inputs\n#define CLK 2\n#define DT 3\n\nServo servo;\nint counter = 0;\nint currentStateCLK;\nint lastStateCLK;\n\nvoid setup() {\n\t\n\t\/\/ Set encoder pins as inputs\n\tpinMode(CLK,INPUT);\n\tpinMode(DT,INPUT);\n\t\n\t\/\/ Setup Serial Monitor\n\tSerial.begin(9600);\n\t\n\t\/\/ Attach servo on pin 9 to the servo object\n\tservo.attach(9);\n\tservo.write(counter);\n\t\n\t\/\/ Read the initial state of CLK\n\tlastStateCLK = digitalRead(CLK);\n}\n\nvoid loop() {\n\t\n\t\/\/ Read the current state of CLK\n\tcurrentStateCLK = digitalRead(CLK);\n\t\n\t\/\/ If last and current state of CLK are different, then pulse occurred\n\t\/\/ React to only 1 state change to avoid double count\n\tif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){\n\t\t\n\t\t\/\/ If the DT state is different than the CLK state then\n\t\t\/\/ the encoder is rotating CCW so decrement\n\t\tif (digitalRead(DT) != currentStateCLK) {\n\t\t\tcounter --;\n\t\t\tif (counter&lt;0)\n\t\t\t\tcounter=0;\n\t\t} else {\n\t\t\t\/\/ Encoder is rotating CW so increment\n\t\t\tcounter ++;\n\t\t\tif (counter>179)\n\t\t\t\tcounter=179;\n\t\t}\n\t\t\/\/ Move the servo\n\t\tservo.write(counter);\n\t\tSerial.print(\"Position: \");\n\t\tSerial.println(counter);\n\t}\n\t\n\t\/\/ Remember last CLK state\n\tlastStateCLK = currentStateCLK;\n}<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u5c06\u6b64\u8349\u56fe\u4e0e\u6211\u4eec\u7684\u7b2c\u4e00\u4e2a\u8349\u56fe\u8fdb\u884c\u6bd4\u8f83\uff0c\u60a8\u4f1a\u6ce8\u610f\u5230\u8bb8\u591a\u76f8\u4f3c\u4e4b\u5904\uff0c\u9664\u4e86\u51e0\u5904\u5185\u5bb9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9996\u5148\uff0c\u6211\u4eec\u5305\u62ec\u5185\u7f6e\u7684Arduino\u4f3a\u670d\u5e93\uff0c\u5e76\u521b\u5efa\u4e00\u4e2a\u8868\u793a\u6211\u4eec\u7684\u4f3a\u670d\u7535\u673a\u7684\u4f3a\u670d\u5bf9\u8c61\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#include &lt;Servo.h>\n\nServo servo;\n<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5b89\u88c5\u7a0b\u5e8f\u4e2d\uff0c\u6211\u4eec\u5c06\u4f3a\u670d\u5bf9\u8c61\u8fde\u63a5\u5230\u5f15\u811a9\uff08\u4e0e\u4f3a\u670d\u7535\u673a\u7684\u63a7\u5236\u5f15\u811a\u76f8\u8fde\u7684\u5f15\u811a\uff09\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">servo.attach(9);<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5faa\u73af\u4e2d\uff0c\u6211\u4eec\u9650\u5236\u8ba1\u6570\u5668\u7684\u8303\u56f4\u4e3a0\u5230179\uff0c\u56e0\u4e3a\u4f3a\u670d\u7535\u673a\u53ea\u63a5\u53d7\u8be5\u8303\u56f4\u4e4b\u95f4\u7684\u503c\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">if (digitalRead(DT) != currentStateCLK) {\n    counter --;\n    if (counter&lt;0)\n        counter=0;\n} else {\n    counter ++;\n    if (counter>179)\n        counter=179;\n}<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u540e\uff0c\u8ba1\u6570\u5668\u503c\u7528\u4e8e\u5b9a\u4f4d\u4f3a\u670d\u7535\u673a\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">servo.write(counter);<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u65cb\u8f6c\u7f16\u7801\u5668\u662f\u4e00\u79cd\u4f4d\u7f6e\u4f20\u611f\u5668\uff0c\u53ef\u5c06\u65cb\u94ae\u7684\u89d2\u4f4d\u7f6e\uff08\u65cb\u8f6c\uff09\u8f6c\u6362\u4e3a\u7528\u4e8e\u786e\u5b9a\u65cb\u94ae\u65cb\u8f6c\u65b9\u5411\u7684\u8f93\u51fa\u4fe1\u53f7\u3002 \u7531\u4e8e\u5176\u575a\u56fa\u6027\u548c\u826f\u597d &hellip; <a href=\"http:\/\/mgspace.wiki\/docs\/?docs=%e7%bc%96%e7%a0%81%e5%99%a8\" class=\"more-link\">\u7ee7\u7eed\u9605\u8bfb<span class=\"screen-reader-text\">\u201c\u7f16\u7801\u5668\u201d<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"footnotes":""},"doc_category":[34],"doc_tag":[],"class_list":["post-1207","docs","type-docs","status-publish","hentry","doc_category-coding"],"_links":{"self":[{"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=\/wp\/v2\/docs\/1207","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=\/wp\/v2\/docs"}],"about":[{"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=\/wp\/v2\/types\/docs"}],"author":[{"embeddable":true,"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1207"}],"version-history":[{"count":1,"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=\/wp\/v2\/docs\/1207\/revisions"}],"predecessor-version":[{"id":1208,"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=\/wp\/v2\/docs\/1207\/revisions\/1208"}],"wp:attachment":[{"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1207"}],"wp:term":[{"taxonomy":"doc_category","embeddable":true,"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_category&post=1207"},{"taxonomy":"doc_tag","embeddable":true,"href":"http:\/\/mgspace.wiki\/docs\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=1207"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}