400 PPR 2-Phase Incremental Optical Rotary Encoder

If you want to build a project where the machine can control the speed of the conveyer belt as well as the direction of movement, a rotary encoder is a must-have component. Keeping this in mind, Robodo.in is introducing the brand new orange 400 PPR 2-Phase Incremental Optical Rotary Encoder at a competitive price.

A rotary encoder is a type of position sensor which is used for determining the angular position of a rotating shaft. It generates an electrical signal, either analog or digital, according to the rotational movement.

Orange 400 PPR Incremental Optical Rotary Encoder is a hi-resolution optical encoder with quadrature outputs for increment counting. It will give 2400 transitions per rotation between outputs A and B. A quadrature decoder is required to convert the pulses to an up count. The Encoder is built to Industrial grade.

The Encoder comes with a Standard 1.5 m cable length which can be extended with extra cable if needed.

//these pins can not be changed 2/3 are special pins
int encoderPin1 = 2;
int encoderPin2 = 3;

volatile int lastEncoded = 0;
volatile long encoderValue = 0;

long lastencoderValue = 0;

int lastMSB = 0;
int lastLSB = 0;

void setup() {
  Serial.begin (9600);

  pinMode(encoderPin1, INPUT); 
  pinMode(encoderPin2, INPUT);

  digitalWrite(encoderPin1, HIGH); //turn pullup resistor on
  digitalWrite(encoderPin2, HIGH); //turn pullup resistor on

  //call updateEncoder() when any high/low changed seen
  //on interrupt 0 (pin 2), or interrupt 1 (pin 3) 
  attachInterrupt(0, updateEncoder, CHANGE); 
  attachInterrupt(1, updateEncoder, CHANGE);

}

void loop(){ 
  //Do stuff here

  Serial.println(encoderValue);
  delay(1000); //just here to slow down the output, and show it will work  even during a delay
}


void updateEncoder(){
  int MSB = digitalRead(encoderPin1); //MSB = most significant bit
  int LSB = digitalRead(encoderPin2); //LSB = least significant bit

  int encoded = (MSB << 1) |LSB; //converting the 2 pin value to single number
  int sum  = (lastEncoded << 2) | encoded; //adding it to the previous encoded value

  if(sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011) encoderValue ++;
  if(sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000) encoderValue --;

  lastEncoded = encoded; //store this value for next time
}

Specification:

Package Includes :

1 x Pro-Range 400 PPR 2-Phase Incremental Optical Rotary Encoder