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rotaryEncoder

Connection to quadrature encoder onArduinoor ESP32 hardware

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Description

ArotaryEncoderobject represents a connection to a quadrature encoder on Arduino®or ESP32 hardware. Attach a quadrature encoder to the appropriate pins on the Arduino or ESP32 hardware. Create arotaryEncoderobject using therotaryEncoderfunction. You can read from the quadrature encoder in MATLAB®using object functions.

Creation

Syntax

encoder = rotaryEncoder(a,chA,chB)
encoder = rotaryEncoder(a,chA,chB,ppr)

Description

example

encoder= rotaryEncoder(a,chA,chB)creates a connection to the rotary encoder using the arduino objecta.chAandchBare the Arduino or ESP32 interrupt pins connected to the output of channel A and channel B of the encoder.

example

encoder= rotaryEncoder(a,chA,chB,ppr)also specifies the pulses per revolution.

Input Arguments

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Arduino or ESP32 hardware connection created usingarduino, specified as an arduino object.

Example:encoder = rotaryEncoder(a,'D2','D3')creates a connection to the rotary encoder on the specifiedarduinoobjecta.

Arduino or ESP32 interrupt pin connected to channel A output of encoder, specified as a character vector of the form'Dx'or'Ax'wherexis the Arduino pin number. For example,'D2'.

Example:encoder = rotaryEncoder(a,'D2','D3')creates a connection to a rotary encoder with channel A output connected to digital pin 2 on the Arduino.

Data Types:char

Arduino or ESP32 interrupt pin connected to channel B output of encoder, specified as a character vector of the form'Dx'or'Ax'wherexis the Arduino pin number. For example,“D3”.

Example:encoder = rotaryEncoder(a,'D2','D3')creates a connection to a rotary encoder with channel B output connected to digital pin 3 on the Arduino.

Data Types:char

Pulses per revolution of the encoder, specified as a number.

Example:encoder = rotaryEncoder(a,'D2','D3',180)creates a connection to a rotary encoder and sets the pulses per revolution to 180.

Properties

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This property is read-only.

Arduino or ESP32 interrupt pin connected to channel A output of encoder, specified as a character vector of the form'Dx'or'Ax'wherexis the Arduino pin number. For example,'D2'.

Example:

>> encoder.ChannelA ans = 'D2'

Data Types:char

This property is read-only.

Arduino interrupt pin connected to channel A output of encoder, specified as a character vector of the form'Dx'or'Ax'wherexis the Arduino pin number. For example,“D3”.

Example:

>> encoder.ChannelB ans = 'D3'

Data Types:char

This property is read-only.

Pulses per revolution of the encoder, specified as a number.

Example:

>> encoder.PulsesPerRevolution ans = 180

Data Types:double

Object Functions

Use object functions to read from your quadrature encoder.

resetCount Set count value to zero or user-specified value
readCount Read current count value from encoder with X4 decoding
readSpeed Read current rotational speed

Examples

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Open Live Script

Connect to a quadrature encoder using your Arduino board.

Create an Arduino object with the'rotaryEncoder'library. In this example, an Arduino Uno is connected to port 4. The port and board names depend on your configuration.

a = arduino('COM4','Uno','Libraries','rotaryEncoder');

Connect to the encoder that is connected to your Arduino board.

encoder = rotaryEncoder(a,'D2',“D3”)
encoder = rotaryEncoder with properties: ChannelA: 'D2' ChannelB: 'D3' PulsesPerRevolution: []
Open Live Script

Connect to a quadrature encoder, and specify the pulses per revolution.

Create an Arduino object with the'rotaryEncoder'library. In this example, an Arduino Uno is connected to port 4. The port and board names depend on your configuration.

a = arduino('COM4','Uno','Libraries','rotaryEncoder');

Connect to the encoder that is connected to your Arduino board.

encoder = rotaryEncoder(a,'D2',“D3”,180)
encoder = rotaryEncoder with properties: ChannelA: 'D2' ChannelB: 'D3' PulsesPerRevolution: 180

Version History

Introduced in R2017a

See Also

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