Binary wheel rotation counter
March 21, 2013
I have a platform consisting of 2 wheels that are being driven by these real large motors which are controlled by the Sabertooth motor driver, 25 Amps.
The platform veers off to the left or right cause the motor speed and other hardware like ball bearings etc are not perfectly matched.
So i slapped on 2 hall effect sensors one for each wheel hoping that if i could read the rpm of each wheel and found that they dont match i could control the power of the motor driving the faster/slower wheel, effectly making my platform go straight.
These sensors give me a logic 1 when a magnet attached to the wheel passes by it.
A line like "ST.motor(1, power);" controls the power to motor 1 and "ST.motor(2, power);" controls motor 2.
My values of power can run from 0 for stop to 30 for maximum speed (technically that peed number can go upto 128).
Also I need to have the motors go in one direction only.
Can anyone direct me how can i use the 2 interrupts of arduino to help me compute the speed of each wheel?