Each is defined as a separate function below. I understand the Elegoo is a compatible and assume (maybe. All the the referenced external interrupts from the Arduino site do not work in the CHANGE mode. The interrupts are being called independently so no sequence issues, etc. I found this code which uses pin change interrupts to interpret and print 4 PWM. Therefore, I have to interpret 24 PWM signals. So Im trying to make what I thought would be a simple project. I’m trying to use the Arduino mega as a voter to determine if the flight controllers agree and which signals to send to the motors. You can define the routine and specify conditions at the rising edge, falling edge or. You can define a routine using a special function called as Interrupt Service Routine (usually known as ISR). The quad has 8 motors (2 on each arm) and 3 flight controllers. The Arduino Mega has six hardware interrupts including the additional interrupts ('interrupt2' through 'interrupt5') on pins 21, 20, 19, and 18. Volatile bool encoderMode = true // 0 brightness // 1 pattern I am using attachinterrupts on the 2560 in the CHANGE mode but only pin 2 and 3 work as described. I’m making a quadcopter with redundant flight control systems. Volatile byte reading = 0 //somewhere to store the direct values we read from our interrupt pins before checking to see if we have moved a whole detent Volatile byte oldEncPos = 0 //stores the last encoder position value so we can compare to the current reading and see if it has changed (so we know when to print to the serial monitor) Change to int or uin16_t instead of byte if you want to record a larger range than 0-255 Volatile byte encoderPos = 0 //this variable stores our current value of encoder position. Volatile byte bFlag = 0 // let's us know when we're expecting a rising edge on pinB to signal that the encoder has arrived at a detent (opposite direction to when aFlag is set) For example, if you connect INT1 to another pin. Volatile byte aFlag = 0 // let's us know when we're expecting a rising edge on pinA to signal that the encoder has arrived at a detent If you have connected the Arduino pin to a different pin on the sensor, change the pin number in this parameter. Volatile long pinCignoreCycles = 0 // the last time the output pin was sampled Static int pinB = 3 // Our second hardware interrupt pin is digital pin 3 Static int pinA = 2 // Our first hardware interrupt pin is digital pin 2
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