Using single-channel encoder in Arduino Support Package for MATLAB

Hello,

I am using the MATLAB Support Package for Arduino Hardware to connect my Arduino Nano 33 IoT and Arduino Nano motor carrier to MATLAB. However, I only have a single channel encoder, meaning there is no data into the "B" port on my motor carrier. I am creating the motor carrier object using the "motorCarrier" function and the subsequent encoder object "rotaryEncoder" Is there a way to configure the rotaryEncoder object to use X1 encoding scheme rather than X4 encoding scheme, so that only the "A" channel must recieve data?

I would also like to do the same to the arduino encoder block in simulink, if possible.

Answer 1

[akshatsood]

Dear @Audrey Blizard,

I understand that you are connecting an Arduino Nano 33 IoT and an Arduino Nano Motor Carrier to MATLAB. You have a single-channel encoder and are inquiring if there is a way to configure the "rotaryEncoder" object to use the X1 encoding scheme rather than the X4 encoding scheme.

The "rotaryEncoder" function in MATLAB simplifies the process of reading rotary encoder data by abstracting away some of the lower-level details. However, the default behavior of the "rotaryEncoder" object is to use X4 encoding. Unfortunately, there is not a direct way to configure the "rotaryEncoder" object to use X1 encoding.

That said, you can still use the "rotaryEncoder" object and manually implement the X1 encoding scheme by only considering the rising edge of the "A" channel. Here is an example of how you might do this:

ardunioObj = arduino('COM3', 'Nano33IoT', 'Libraries', 'MotorCarrier');
motorCarrierObj = motorCarrier(ardunioObj);

% define the pin for the "A" channel of the encoder
encoderAPin = 'ENTER_YOUR_PIN';
encoder = rotaryEncoder(motorCarrierObj, encoderAPin);

encoderCount = 0; % initialize encoder count

% read the initial position
prevPosition = readCount(encoder);

% read encoder pulses and implement X1 encoding
while true
    
    currentPosition = readCount(encoder);
    
    if currentPosition > prevPosition % check for rising edge
        encoderCount = encoderCount + 1;
    end
    
    prevPosition = currentPosition;

    disp(encoderCount);
    pause(0.01);
end

I hope this helps.