Program Structure: Header File: Encoder Monitor. h // integer position that can change at any time. volatile int encoder Position // Interrupt service routines. void Encoder Monitora() if input A and input Bare equal // input A and input Bare pins 2 and 3 respectively. Increment encoder Position. else Decrement encoder Position. void Encoder MonitorB () if input A and input Bare equal Decrement encoder Position. // Note this is the opposite of what happens above! else Increment encoder Position. // Function to start encoder monitoring void Encoderinitialize() set pins 2 and 3 as INPUT/ pinMode attachInterrupt ( digitalPinToInterrupt (2), Encoder Monitor PinA, CHANGE); attachInterrupt ( digitalPinToInterrupt (3), Encoder MonitorPinB, CHANGE ); End of Encoder Monitor. h Main Arduino code. Include "Encoder Monitor. h" Include and setup up LedDriver. Create Timer // unsigned long Set Up: Encoder Initialize(); LedDriver. begin(16, 2); Initialize Timer Loop: Every 100 milliseconds display encoder Position on LCD screen.

Lab Assignment:

Prelab: Write the program described in the program section and upload Lab 6:

1) Download and demonstrate the program in the prelab, documenting the following as accurately as you can. - Number of encoder counts per revolution and encoder counts per "detent".

2) Change your program to decrement encoder Position every time the push-button is pressed. For this, the code from lab 5 should be used to insure that only one decrement occurs per button press.