Reading encoders#

Tutorial · 8 min read

Before tuning anything, make sure the speed you measure is the speed the wheel actually turns.

Check the counts first#

Turn the wheel exactly 10 times by hand and compare the pulse count with CPR × gear ratio × 10. Do it in both directions.

volatile long ticks = 0;
void IRAM_ATTR onA() { ticks += digitalRead(PIN_B) ? 1 : -1; }

Note

If the two directions disagree, check the B channel wiring before touching any code.