Hello I am combinig MPU6050 with Encoder for cycle simulation. But as I move the encoder very fastly it stopped automatically giving readings. I am little bit confused whats is the exact problem?
My Code
#define BAUDRATE 38400
//Encoder
//#define pinA A1
#define ARDUINOPIN A2
#define STATE_UNINIT 0
#define STATE_INIT 1
byte systemState;
volatile long count;
int pinA = 2;
int pinB = 3;
int limitSW_1 = 4;
boolean sigA = 0;
boolean sigB = 0;
boolean status_L1 = 0;
//Ends Encoder
//Start MPU
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "PinChangeInt.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
#define OUTPUT_READABLE_QUATERNION
//#define OUTPUT_READABLE_YAWPITCHROLL
//Ends MPU
MPU6050 mpu;
// MPU control/status vars
bool dmpReady = false;
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup()
{
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(BAUDRATE);
//while (!Serial); //
mpu.initialize();
devStatus = mpu.dmpInitialize();
mpu.setXGyroOffset(52);
mpu.setYGyroOffset(18);
mpu.setZGyroOffset(-24);
mpu.setZAccelOffset(1030); // 1688 factory default for my test chip
if (devStatus == 0)
{
mpu.setDMPEnabled(true);
pinMode(ARDUINOPIN, INPUT_PULLUP);
// attachInterrupt(ARDUINOPIN, dmpDataReady, RISING);
attachPinChangeInterrupt(ARDUINOPIN, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
dmpReady = true;
packetSize = mpu.dmpGetFIFOPacketSize();
}
else { }
systemState = STATE_UNINIT;
// pinMode(pinA, INPUT_PULLUP);
// attachPinChangeInterrupt(pinA, interruptA, CHANGE);
// pinMode(pinB, INPUT_PULLUP);
// attachPinChangeInterrupt(pinB, interruptB, CHANGE);
attachInterrupt(0, interruptA, CHANGE);
attachInterrupt(1, interruptB, CHANGE);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop()
{
if (!dmpReady) return;
while (!mpuInterrupt && fifoCount < packetSize) {}
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
fifoCount = mpu.getFIFOCount();
if ((mpuIntStatus & 0x10) || fifoCount == 1024)
{
mpu.resetFIFO();
}
else if (mpuIntStatus & 0x02)
{
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
mpu.getFIFOBytes(fifoBuffer, packetSize);
fifoCount -= packetSize;
//YPR
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
// Serial.print("ypr\t");
//Serial.print(ypr[0] * 180/M_PI);
// Serial.print(",");
// Serial.print(ypr[1] * 180/M_PI);
// Serial.print(",");
// Serial.println(ypr[2] * 180/M_PI);
#endif
//Quaternion
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
// Serial.print("quat\t");
Serial.print(q.w);
Serial.print(",");
Serial.print(q.x);
Serial.print(",");
Serial.print(q.y);
Serial.print(",");
Serial.print(q.z);
Serial.print(",");
#endif
Serial.print(count);
Serial.print(',');
Serial.print(status_L1);
Serial.println();
// Stream.flush();
}
status_L1 = digitalRead(limitSW_1);
if (status_L1 == 1 && false)
{
count = 0;
systemState = STATE_INIT;
}
// delay(50);
}
//interupt for PinA
void interruptA()
{
sigA = digitalRead(pinA);
switch(sigA)
{
case 0:
if(sigB == 1)
count++;
else
count--;
break;
case 1:
if(sigB == 0)
count++;
else
count--;
break;
}
}
//interupt for PinA
void interruptB()
{
sigB = digitalRead(pinB);
switch(sigB)
{
case 0:
if(sigA == 0)
count++;
else
count--;
break;
case 1:
if(sigA == 1)
count++;
else
count--;
break;
}
}
