{"id":13169,"date":"2021-03-18T08:00:23","date_gmt":"2021-03-18T08:00:23","guid":{"rendered":"https:\/\/roboeq.ir\/blog\/?p=13169"},"modified":"2021-07-24T12:25:52","modified_gmt":"2021-07-24T13:25:52","slug":"%d8%b1%d8%a7%d9%87-%d8%a7%d9%86%d8%af%d8%a7%d8%b2%db%8c-%d8%b1%d9%88%d8%aa%d8%a7%d8%b1%db%8c-%d8%a7%d9%86%da%a9%d9%88%d8%af%d8%b1-%d8%a8%d8%a7-%d8%a2%d8%b1%d8%af%d9%88%db%8c%d9%86%d9%88","status":"publish","type":"post","link":"https:\/\/roboeq.ir\/blog\/%d8%b1%d8%a7%d9%87-%d8%a7%d9%86%d8%af%d8%a7%d8%b2%db%8c-%d8%b1%d9%88%d8%aa%d8%a7%d8%b1%db%8c-%d8%a7%d9%86%da%a9%d9%88%d8%af%d8%b1-%d8%a8%d8%a7-%d8%a2%d8%b1%d8%af%d9%88%db%8c%d9%86%d9%88\/","title":{"rendered":"\u0622\u0645\u0648\u0632\u0634 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648"},"content":{"rendered":"\n<p>\u0647\u062f\u0641 \u0645\u0627 \u062f\u0631 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id=\"h--1\"><strong>\u0646\u062d\u0648\u0647 \u06a9\u0627\u0631 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631<\/strong><\/h2>\n\n\n\n<p>\u0627\u0645\u0627 \u0627\u0646\u06a9\u0648\u062f\u0631 \u0686\u0631\u062e\u0634\u06cc \u0686\u06af\u0648\u0646\u0647 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u0628\u0627\u0647\u0645 \u0646\u062d\u0648\u0647 \u06a9\u0627\u0631 \u0622\u0646 \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645.<\/p>\n\n\n\n<p>\u0647\u0645\u0627\u0646\u200c\u0637\u0648\u0631 \u06a9\u0647 \u062f\u0631 \u0634\u06a9\u0644 \u0632\u06cc\u0631 \u0645\u06cc\u200c\u0628\u06cc\u0646\u06cc\u062f \u062f\u0627\u062e\u0644 \u06cc\u06a9 \u0627\u0646\u06a9\u0648\u062f\u0631 \u06cc\u06a9 \u062f\u06cc\u0633\u06a9 \u0634\u06cc\u0627\u0631\u062f\u0627\u0631 \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f \u06a9\u0647 \u0628\u0647 \u067e\u0627\u06cc\u0647 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\u067e\u0627\u06cc\u0647 A \u0648 \u0633\u067e\u0633 \u067e\u0627\u06cc\u0647 B&nbsp;\u0648\u0635\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0627\u0645\u0627 \u0627\u06af\u0631 \u0645\u062d\u0648\u0631 \u0631\u0627 \u067e\u0627\u062f\u0633\u0627\u0639\u062a\u06af\u0631\u062f \u0628\u0686\u0631\u062e\u0627\u0646\u06cc\u062f\u060c \u0627\u0628\u062a\u062f\u0627 \u067e\u0627\u06cc\u0647 B \u0648 \u067e\u0633 \u0627\u0632 \u0622\u0646 \u067e\u0627\u06cc\u0647 A &nbsp;\u0645\u062a\u0635\u0644 \u062e\u0648\u0627\u0647\u062f \u0634\u062f.<\/p>\n\n\n\n<p>\u200c\u0628\u0627 \u0628\u0631\u0631\u0633\u06cc \u0627\u062a\u0635\u0627\u0644 \u0648 \u0639\u062f\u0645 \u0627\u062a\u0635\u0627\u0644 \u0647\u0631 \u06a9\u062f\u0627\u0645 \u0627\u0632 \u067e\u0627\u06cc\u0647\u200c\u0647\u0627 \u0628\u0647 \u0632\u0645\u06cc\u0646 \u0645\u0634\u062a\u0631\u06a9 \u0648 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0633\u06cc\u06af\u0646\u0627\u0644\u200c\u0647\u0627\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u0645 \u062c\u0647\u062a \u0686\u0631\u062e\u0634 \u0645\u062d\u0648\u0631 \u0631\u0627 \u0645\u0634\u062e\u0635 \u06a9\u0646\u06cc\u0645. \u06cc\u0639\u0646\u06cc \u0628\u0627 \u062a\u062d\u062a \u0646\u0638\u0631 \u062f\u0627\u0634\u062a\u0646 \u062d\u0627\u0644\u062a B\u060c \u0632\u0645\u0627\u0646\u06cc\u200c\u06a9\u0647 \u062d\u0627\u0644\u062a A \u062f\u0631 \u062d\u0627\u0644 \u062a\u063a\u06cc\u06cc\u0631 \u0627\u0633\u062a\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0631\u0627 \u0627\u0646\u062c\u0627\u0645 \u062f\u0647\u06cc\u062f.<\/p>\n\n\n\n<p>\u0648\u0642\u062a\u06cc A \u062a\u063a\u06cc\u06cc\u0631 \u062d\u0627\u0644\u062a \u0645\u06cc\u200c\u062f\u0647\u062f: <\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>\u0627\u06af\u0631 B != A \u0628\u0627\u0634\u062f\u060c \u0645\u062d\u0648\u0631 \u0633\u0627\u0639\u062a\u06af\u0631\u062f \u0686\u0631\u062e\u0627\u0646\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a.<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"489\" height=\"135\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-pulses-in-clockwise-rotation.png\" alt=\"\u067e\u0627\u0644\u0633\u200c\u0647\u0627\u06cc \u062e\u0631\u0648\u062c\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0647 \u0635\u0648\u0631\u062a \u0633\u0627\u0639\u062a\u06af\u0631\u062f \" class=\"wp-image-16849\" srcset=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-pulses-in-clockwise-rotation.png 489w, https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-pulses-in-clockwise-rotation-300x83.png 300w\" sizes=\"auto, (max-width: 489px) 100vw, 489px\" \/><\/figure><\/div>\n\n\n\n<ul class=\"wp-block-list\"><li>\u0627\u06af\u0631 B = A \u0628\u0627\u0634\u062f\u060c \u0645\u062d\u0648\u0631 \u067e\u0627\u062f\u0633\u0627\u0639\u062a\u06af\u0631\u062f \u0686\u0631\u062e\u0627\u0646\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a.<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"492\" height=\"134\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-pulses-in-anticlockwise-rotation.png\" alt=\"\u067e\u0627\u0644\u0633\u200c\u0647\u0627\u06cc \u062e\u0631\u0648\u062c\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0647 \u0635\u0648\u0631\u062a \u067e\u0627\u062f\u0633\u0627\u0639\u062a\u06af\u0631\u062f \" class=\"wp-image-16848\" srcset=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-pulses-in-anticlockwise-rotation.png 492w, https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-pulses-in-anticlockwise-rotation-300x82.png 300w\" sizes=\"auto, (max-width: 492px) 100vw, 492px\" \/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631<\/strong><\/h2>\n\n\n\n<p>\u062d\u0627\u0644\u0627 \u0628\u06cc\u0627\u06cc\u06cc\u062f\u060c \u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0631\u0627 \u0628\u0627 \u0647\u0645 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u0645. \u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0647 \u0634\u06a9\u0644 \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"434\" height=\"210\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-module-pinout.png\" alt=\"\u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \" class=\"wp-image-16851\" srcset=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-module-pinout.png 434w, https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-module-pinout-300x145.png 300w\" sizes=\"auto, (max-width: 434px) 100vw, 434px\" \/><\/figure><\/div>\n\n\n\n<p style=\"direction: rtl;\">\n      <span style=\"background-color: #333739; color : white \">GND<\/span>    \u0628\u0647 \u0632\u0645\u06cc\u0646 \u0648\u0635\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f.\n<\/p>\n\n\n\n<p style=\"direction: rtl;\">\n      <span style=\"background-color: #cb2b2b; color : white \">VCC<\/span>    \u0648\u0644\u062a\u0627\u0698 \u062a\u063a\u0630\u06cc\u0647 \u0645\u062b\u0628\u062a \u0627\u0633\u062a \u0648 \u0645\u0639\u0645\u0648\u0644\u0627 3.3V \u06cc\u0627 5V \u0645\u06cc\u200c\u0628\u0627\u0634\u062f.\n<\/p>\n\n\n\n<p style=\"direction: rtl;\">\n      <span style=\"background-color: #f1c40f; color : white \">SW<\/span>    \u062e\u0631\u0648\u062c\u06cc \u0633\u0648\u06cc\u06cc\u0686 \u0641\u0634\u0627\u0631\u06cc active low \u0627\u0633\u062a. \u0628\u0627 \u0641\u0634\u0627\u0631 \u062f\u0627\u062f\u0646 \u0645\u062d\u0648\u0631\u060c \u0648\u0644\u062a\u0627\u0698 \u0627\u06cc\u0646 \u067e\u0627\u06cc\u0647 LOW \u0645\u06cc\u200c\u0634\u0648\u062f.\n<\/p>\n\n\n\n<p style=\"direction: rtl;\">\n      <span style=\"background-color: #3498db; color : white \">CLK (Output A)<\/span>    \u067e\u0627\u0644\u0633 \u062e\u0631\u0648\u062c\u06cc \u0627\u0648\u0644\u06cc\u0647 \u0628\u0631\u0627\u06cc \u062a\u0639\u06cc\u06cc\u0646 \u0645\u06cc\u0632\u0627\u0646 \u0686\u0631\u062e\u0634 \u0627\u0633\u062a. \u0647\u0646\u06af\u0627\u0645 \u0686\u0631\u062e\u0634 \u0645\u062d\u0648\u0631 \u062f\u0631 \u0647\u0631 \u062c\u0647\u062a \u0648 \u0639\u0628\u0648\u0631 \u062f\u06cc\u0633\u06a9 \u0627\u0632 \u0645\u06a9\u0627\u0646 A\u060c \u062e\u0631\u0648\u062c\u06cc CLK \u06cc\u06a9 \u0686\u0631\u062e\u0647 HIGH \u0648 \u0633\u067e\u0633 LOW \u0634\u062f\u0646 \u0631\u0627 \u0637\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f.\n<\/p>\n\n\n\n<p style=\"direction: rtl;\">\n      <span style=\"background-color: #2ecc71; color : white \">DT (Output B)<\/span>    \u0645\u0627\u0646\u0646\u062f \u062e\u0631\u0648\u062c\u06cc CLK \u0627\u0633\u062a\u060c \u0627\u0645\u0627  \u0641\u0627\u0632 \u0622\u0646 \u0646\u0633\u0628\u062a \u0628\u0647 CLK\u060c \u0646\u0648\u062f \u062f\u0631\u062c\u0647 \u0639\u0642\u0628\u200c\u062a\u0631 \u0627\u0633\u062a. \u0627\u0632 \u0627\u06cc\u0646 \u062e\u0631\u0648\u062c\u06cc \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0628\u0631\u0627\u06cc \u062a\u0639\u06cc\u06cc\u0646 \u062c\u0647\u062a \u0686\u0631\u062e\u0634 \u0645\u062d\u0648\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0631\u062f.\n<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u2013 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/h2>\n\n\n\n<p>\u0627\u0644\u0627\u0646 \u0632\u0645\u0627\u0646 \u0622\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0631\u0627 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0634\u0631\u0648\u0639 \u06a9\u0646\u06cc\u0645. \u0627\u0646\u062c\u0627\u0645 \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0628\u0633\u06cc\u0627\u0631 \u0633\u0627\u062f\u0647 \u0627\u0633\u062a\u060c \u067e\u0633 \u0627\u0635\u0644\u0627 \u0646\u06af\u0631\u0627\u0646 \u0646\u0628\u0627\u0634\u06cc\u062f. \u0642\u0637\u0639\u0627\u062a\u06cc \u06a9\u0647 \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u0646\u06cc\u0627\u0632 \u062f\u0627\u0631\u06cc\u062f\u060c \u0639\u0628\u0627\u0631\u062a \u0627\u0646\u062f \u0627\u0632:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li><strong><a href=\"https:\/\/roboeq.ir\/products\/detail\/0207027\/%D9%85%D8%A7%DA%98%D9%88%D9%84%20%D8%B1%D9%88%D8%AA%D8%A7%D8%B1%DB%8C%20%D8%A7%D9%86%DA%A9%D9%88%D8%AF%D8%B1%20360%20%D8%AF%D8%B1%D8%AC%D9%87\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 360 \u062f\u0631\u062c\u0647 <\/a><\/strong><\/li><li><strong><a href=\"https:\/\/roboeq.ir\/products\/detail\/2201004\/%D9%85%D8%A7%DA%98%D9%88%D9%84%20%D8%A2%D8%B1%D8%AF%D9%88%DB%8C%D9%86%D9%88%20MEGA2560\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u0645\u0627\u0698\u0648\u0644 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648  MEGA2560 <\/a><\/strong><\/li><li><strong><a href=\"https:\/\/roboeq.ir\/products\/detail\/1802177\/%D9%85%DB%8C%D9%86%DB%8C%20%D8%A8%D8%B1%D8%AF%20%D8%A8%D9%88%D8%B1%D8%AF%20400%20%D8%B3%D9%88%D8%B1%D8%A7%D8%AE\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u0645\u06cc\u0646\u06cc \u0628\u0631\u062f \u0628\u0648\u0631\u062f 400 \u0633\u0648\u0631\u0627\u062e<\/a><\/strong><\/li><li><strong><a href=\"https:\/\/roboeq.ir\/products\/detail\/1301032\/%D8%B3%DB%8C%D9%85%20%D8%A8%D8%B1%D8%AF%20%D8%A8%D9%88%D8%B1%D8%AF%DB%8C%2065%20%D8%AA%D8%A7%DB%8C%DB%8C\/\" target=\"_blank\" rel=\"noreferrer noopener\">\u0633\u06cc\u0645 \u0628\u0631\u062f \u0628\u0648\u0631\u062f\u06cc 65 \u062a\u0627\u06cc\u06cc <\/a><\/strong><\/li><\/ul>\n\n\n\n<p>\u067e\u0633 \u0627\u0632 \u0627\u06cc\u0646\u06a9\u0647 \u0642\u0637\u0639\u0627\u062a \u0645\u0648\u0631\u062f \u0646\u0638\u0631 \u0631\u0627 \u062a\u0647\u06cc\u0647 \u06a9\u0631\u062f\u06cc\u062f\u060c \u062f\u0631 \u0642\u062f\u0645 \u0627\u0648\u0644\u060c \u067e\u0627\u06cc\u0647 V+ \u0631\u0648\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0627 \u0628\u0647 5V \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u067e\u0627\u06cc\u0647 GND \u0631\u0627 \u0628\u0647 \u0632\u0645\u06cc\u0646 \u0648\u0635\u0644 \u06a9\u0646\u06cc\u062f. \u0633\u067e\u0633\u060c \u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc CLK \u0648 DT \u0631\u0627 \u0628\u0647 \u062a\u0631\u062a\u06cc\u0628 \u0628\u0647 \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 2# \u0648 3# \u0648\u0635\u0644 \u06a9\u0646\u06cc\u062f \u0648 \u062f\u0631 \u0622\u062e\u0631 \u067e\u0627\u06cc\u0647 SW \u0631\u0627 \u0628\u0647 \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 4# \u0645\u062a\u0635\u0644 \u0646\u0645\u0627\u06cc\u06cc\u062f. \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0637\u0628\u0642 \u062a\u0635\u0648\u06cc\u0631 \u0632\u06cc\u0631\u060c \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u0631\u0627 \u0627\u0646\u062c\u0627\u0645 \u062f\u0647\u06cc\u062f:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"567\" height=\"314\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/wiring-rotary-encoder-with-arduino-uno.png\" alt=\"\u0646\u062d\u0648\u0647 \u0627\u062a\u0635\u0627\u0644 \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\" class=\"wp-image-16852\" srcset=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/wiring-rotary-encoder-with-arduino-uno.png 567w, https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/wiring-rotary-encoder-with-arduino-uno-300x166.png 300w\" sizes=\"auto, (max-width: 567px) 100vw, 567px\" \/><figcaption><br><br>\u0646\u062a\u06cc\u062c\u0647 \u0646\u0647\u0627\u06cc\u06cc \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u0635\u062d\u06cc\u062d \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/figcaption><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648- \u062e\u0648\u0627\u0646\u062f\u0646 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631<\/strong><strong> <\/strong><strong><\/strong><\/h3>\n\n\n\n<p>\u062f\u0631 \u0628\u062e\u0634 \u0642\u0628\u0644 \u0628\u0627\u0647\u0645 \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u0631\u0627 \u0627\u0646\u062c\u0627\u0645 \u062f\u0627\u062f\u06cc\u0645. \u0627\u0645\u0627 \u0627\u06a9\u0646\u0648\u0646 \u0628\u0627 \u0646\u0648\u0634\u062a\u0646 \u06a9\u062f \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0628\u0627 \u0627\u0646\u06a9\u0648\u062f\u0631 \u06a9\u0627\u0631\u0647\u0627\u06cc \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0646\u062c\u0627\u0645 \u062f\u0647\u06cc\u062f. \u062f\u0633\u062a\u0648\u0631\u0627\u062a\u06cc \u06a9\u0647 \u062f\u0631 \u0627\u062f\u0627\u0645\u0647 \u0645\u06cc\u200c\u0628\u06cc\u0646\u06cc\u062f\u060c \u0628\u0647 \u0634\u0645\u0627 \u0627\u06cc\u0646 \u0627\u0645\u06a9\u0627\u0646 \u0631\u0627 \u0645\u06cc\u200c\u062f\u0647\u062f \u062a\u0627 \u0627\u0632 \u0633\u06a9\u0648\u0646 \u06cc\u0627 \u0686\u0631\u062e\u0634 \u0645\u062d\u0648\u0631\u060c \u062c\u0647\u062a \u0686\u0631\u062e\u0634\u060c \u0641\u0634\u0631\u062f\u0647 \u0634\u062f\u0646 \u06cc\u0627 \u0641\u0634\u0631\u062f\u0647 \u0646\u0634\u062f\u0646 \u0645\u062d\u0648\u0631 \u0645\u0637\u0644\u0644\u0639 \u0634\u0648\u06cc\u062f. \u0627\u06cc\u0646 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0631\u0627 \u0628\u0631 \u0631\u0648\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0622\u067e\u0644\u0648\u062f \u06a9\u0646\u06cc\u062f \u062a\u0627 \u062f\u0631 \u0627\u062f\u0627\u0645\u0647 \u0628\u06cc\u0634\u062a\u0631 \u062f\u0631 \u0645\u0648\u0631\u062f \u0622\u0646 \u0635\u062d\u0628\u062a \u06a9\u0646\u06cc\u0645.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\n\/\/ Rotary Encoder Inputs\n#define CLK 2\n#define DT 3\n#define SW 4\n\nint counter = 0;\nint currentStateCLK;\nint lastStateCLK;\nString currentDir =&quot;&quot;;\nunsigned long lastButtonPress = 0;\n\nvoid setup() {\n\t\n\t\/\/ Set encoder pins as inputs\n\tpinMode(CLK,INPUT);\n\tpinMode(DT,INPUT);\n\tpinMode(SW, INPUT_PULLUP);\n\n\t\/\/ Setup Serial Monitor\n\tSerial.begin(9600);\n\n\t\/\/ Read the initial state of CLK\n\tlastStateCLK = digitalRead(CLK);\n}\n\nvoid loop() {\n\t\n\t\/\/ Read the current state of CLK\n\tcurrentStateCLK = digitalRead(CLK);\n\n\t\/\/ If last and current state of CLK are different, then pulse occurred\n\t\/\/ React to only 1 state change to avoid double count\n\tif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){\n\n\t\t\/\/ If the DT state is different than the CLK state then\n\t\t\/\/ the encoder is rotating CCW so decrement\n\t\tif (digitalRead(DT) != currentStateCLK) {\n\t\t\tcounter --;\n\t\t\tcurrentDir =&quot;CCW&quot;;\n\t\t} else {\n\t\t\t\/\/ Encoder is rotating CW so increment\n\t\t\tcounter ++;\n\t\t\tcurrentDir =&quot;CW&quot;;\n\t\t}\n\n\t\tSerial.print(&quot;Direction: &quot;);\n\t\tSerial.print(currentDir);\n\t\tSerial.print(&quot; | Counter: &quot;);\n\t\tSerial.println(counter);\n\t}\n\n\t\/\/ Remember last CLK state\n\tlastStateCLK = currentStateCLK;\n\n\t\/\/ Read the button state\n\tint btnState = digitalRead(SW);\n\n\t\/\/If we detect LOW signal, button is pressed\n\tif (btnState == LOW) {\n\t\t\/\/if 50ms have passed since last LOW pulse, it means that the\n\t\t\/\/button has been pressed, released and pressed again\n\t\tif (millis() - lastButtonPress &gt; 50) {\n\t\t\tSerial.println(&quot;Button pressed!&quot;);\n\t\t}\n\n\t\t\/\/ Remember last button press event\n\t\tlastButtonPress = millis();\n\t}\n\n\t\/\/ Put in a slight delay to help debounce the reading\n\tdelay(1);\n}\n<\/pre><\/div>\n\n\n<p>\u067e\u0633 \u0627\u0632 \u0627\u06cc\u0646\u06a9\u0647 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0628\u0627\u0644\u0627 \u0631\u0627 \u0628\u0631 \u0631\u0648\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0622\u067e\u0644\u0648\u062f \u06a9\u0631\u062f\u06cc\u062f\u060c \u0627\u06af\u0631 \u0647\u0645\u0647 \u0686\u06cc\u0632 \u0628\u0647 \u062e\u0648\u0628\u06cc \u0627\u0646\u062c\u0627\u0645 \u0634\u062f\u0647 \u0628\u0627\u0634\u062f\u060c \u0628\u0627\u06cc\u062f \u062e\u0631\u0648\u062c\u06cc \u0632\u06cc\u0631 \u0631\u0627 \u062f\u0631 \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0645\u0634\u0627\u0647\u062f\u0647 \u06a9\u0646\u06cc\u062f:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"521\" height=\"341\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-on-serial-monitor.png\" alt=\"\u062e\u0631\u0648\u062c\u06cc \u0646\u0645\u0648\u0646\u0647 \u06a9\u062f \u062e\u0648\u0627\u0646\u062f\u0646 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631  \u0628\u0631 \u0631\u0648\u06cc \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \" class=\"wp-image-16853\" srcset=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-on-serial-monitor.png 521w, https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/rotary-encoder-output-on-serial-monitor-300x196.png 300w\" sizes=\"auto, (max-width: 521px) 100vw, 521px\" \/><\/figure><\/div>\n\n\n\n<p class=\"has-text-color\" style=\"color:#ee8020;font-size:25px\"><strong>\u0646\u06a9\u062a\u0647:<\/strong><\/p>\n\n\n\n<style>\n.CLK {\n  background-color: #d7fbff;\n  border-radius: 10px;\n  border: 15px #0097a7;\n  \/*width: 100px;*\/\n  padding: 15px;\n  margin: auto;\n  \/*text-align: right;*\/\n  direction: rtl;\n}\n<\/style>\n\n\n\n<div class=\"CLK\">\n    <p>\t\n    \t \u0627\u06af\u0631 \u0686\u0631\u062e\u0634\u06cc \u06a9\u0647 \u062f\u0631 \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0645\u0634\u0627\u0647\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u062f\u060c \u0628\u0631\u062e\u0644\u0627\u0641 \u0627\u0646\u062a\u0638\u0627\u0631 \u0634\u0645\u0627 \u0628\u0648\u062f\u060c \u062e\u0637\u0648\u0637 CLK \u0648 DT \u0631\u0627 \u0628\u0627\u0647\u0645 \u062c\u0627\u0628\u0647\u200c\u062c\u0627 \u06a9\u0646\u06cc\u062f.\n    <\/p>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u062a\u0648\u0636\u06cc\u062d\u0627\u062a \u06a9\u062f:<\/strong><\/h3>\n\n\n\n<p>\u0627\u06cc\u0646 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0628\u0627 \u0645\u0639\u0631\u0641\u06cc \u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u06a9\u0647 \u0628\u0647 \u062a\u0631\u062a\u06cc\u0628 \u0628\u0647 \u067e\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc SW, DT ,CLK \u0627\u0646\u06a9\u0648\u062f\u0631 \u0645\u062a\u0635\u0644 \u0634\u062f\u0647 \u0627\u0633\u062a\u060c \u0634\u0631\u0648\u0639 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\n#define CLK 2\n#define DT 3\n#define SW 4\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u0627\u062f\u0627\u0645\u0647 \u062f\u0633\u062a\u0648\u0631\u0627\u062a\u060c \u0686\u0646\u062f \u0645\u062a\u063a\u06cc\u0631 \u0627\u0632 \u0646\u0648\u0639 \u0639\u062f\u062f \u0635\u062d\u06cc\u062d \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0645\u062a\u063a\u06cc\u0631 <code>counter<\/code> \u062a\u0639\u062f\u0627\u062f \u067e\u0627\u0644\u0633 \u0627\u06cc\u062c\u0627\u062f \u0634\u062f\u0647 \u0631\u0627 \u06a9\u0647 \u0628\u0627 \u0647\u0631 \u0628\u0627\u0631 \u0686\u0631\u062e\u0627\u0646\u062f\u0646 \u0645\u062d\u0648\u0631 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc\u200c\u0634\u0648\u062f\u060c \u0634\u0645\u0627\u0631\u0634 \u0645\u06cc\u200c\u06a9\u0646\u062f. &nbsp;<\/p>\n\n\n\n<p>\u0645\u062a\u063a\u06cc\u0631\u0647\u0627\u06cc <code>currentStateCLK<\/code> \u0648 <code>lastStateCLK<\/code> \u0646\u06cc\u0632\u060c \u0648\u0636\u0639\u06cc\u062a \u062e\u0631\u0648\u062c\u06cc CLK \u0631\u0627 \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u0646\u062f \u0648 \u0628\u0631\u0627\u06cc \u062a\u0639\u06cc\u06cc\u0646 \u0645\u06cc\u0632\u0627\u0646 \u0686\u0631\u062e\u0634 \u0645\u0648\u0631\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0642\u0631\u0627\u0631 \u0645\u06cc\u200c\u06af\u06cc\u0631\u0646\u062f. \u0627\u0632 \u0645\u062a\u063a\u06cc\u0631 \u0631\u0634\u062a\u0647\u200c\u0627\u06cc <code>currentDir<\/code> \u0647\u0645 \u0628\u0631\u0627\u06cc \u0686\u0627\u067e \u06a9\u0631\u062f\u0646 \u062c\u0647\u062a \u0686\u0631\u062e\u0634 \u0628\u0631 \u0631\u0648\u06cc \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0648 \u0627\u0632 \u0645\u062a\u063a\u06cc\u0631 <code>lastButtonPress<\/code> \u0646\u06cc\u0632 \u0628\u0631\u0627\u06cc \u062f\u06cc\u0628\u0627\u0646\u0633 \u0648 \u0646\u0648\u06cc\u0632\u06af\u06cc\u0631\u06cc \u0633\u0648\u06cc\u06cc\u0686 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f. <\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nint counter = 0;\nint currentStateCLK;\nint lastStateCLK;\nString currentDir =&quot;&quot;;\nunsigned long lastButtonPress = 0;\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u0628\u062e\u0634 Setup\u060c \u0627\u0628\u062a\u062f\u0627 \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u0627\u0646\u06a9\u0648\u062f\u0631 \u0631\u0627 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0648\u0631\u0648\u062f\u06cc \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. \u0633\u067e\u0633\u060c \u0645\u0642\u0627\u0648\u0645\u062a Pullup \u0648\u0631\u0648\u062f\u06cc \u0631\u0627 \u0631\u0648\u06cc \u067e\u0627\u06cc\u0647 SW \u0641\u0639\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645 \u0648 \u062a\u0646\u0638\u06cc\u0645\u0627\u062a \u0645\u0631\u0628\u0648\u0637 \u0628\u0647 \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0631\u0627 \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u062f\u0647\u06cc\u0645. \u062f\u0631 \u0622\u062e\u0631 \u0647\u0645 \u0645\u0642\u062f\u0627\u0631 \u0641\u0639\u0644\u06cc \u067e\u0627\u06cc\u0647 CLK \u0631\u0627 \u0645\u06cc\u200c\u062e\u0648\u0627\u0646\u06cc\u0645 \u0648 \u0622\u0646 \u0631\u0627 \u062f\u0631 \u0645\u062a\u063a\u06cc\u0631 <code>lastStateCLK<\/code> \u0630\u062e\u06cc\u0631\u0647 \u0645\u06cc\u200c\u0646\u0645\u0627\u06cc\u06cc\u0645.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\npinMode(CLK,INPUT);\npinMode(DT,INPUT);\npinMode(SW, INPUT_PULLUP);\n\nSerial.begin(9600);\n\nlastStateCLK = digitalRead(CLK);\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u0628\u062e\u0634 loop\u060c \u0648\u0636\u0639\u06cc\u062a CLK \u0631\u0627 \u0645\u062c\u062f\u062f\u0627 \u0686\u06a9 \u06a9\u0631\u062f\u0647 \u0648 \u0628\u0627 \u0645\u062a\u063a\u06cc\u0631 <code>lastStateCLK<\/code>&nbsp; \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. \u0627\u06af\u0631 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0645\u062a\u0641\u0627\u0648\u062a \u0628\u0648\u062f\u060c \u06cc\u0639\u0646\u06cc \u0645\u062d\u0648\u0631 \u0686\u0631\u062e\u06cc\u062f\u0647 \u0648 \u06cc\u06a9 \u067e\u0627\u0644\u0633 \u0631\u062e \u062f\u0627\u062f\u0647 \u0627\u0633\u062a. \u0639\u0644\u0627\u0648\u0647 \u0628\u0631 \u0627\u06cc\u0646\u060c \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646\u06a9\u0647 \u0647\u0631 \u067e\u0627\u0644\u0633 \u062f\u0648\u0628\u0627\u0631 \u0634\u0645\u0627\u0631\u0634 \u0646\u0634\u0648\u062f\u060c \u0645\u0642\u062f\u0627\u0631 \u0645\u062a\u063a\u06cc\u0631 <code>currentStateCLK<\/code>&nbsp; \u0631\u0627 \u0646\u06cc\u0632 \u0628\u0631\u0631\u0633\u06cc \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645.<\/p>\n\n\n\n<p>\u0628\u0631\u0627\u06cc \u0627\u06cc\u0646\u06a9\u0647 \u0647\u0631 \u067e\u0627\u0644\u0633 \u062f\u0648 \u0628\u0627\u0631 \u0634\u0645\u0627\u0631\u0634 \u0646\u0634\u0648\u062f\u060c \u062a\u0646\u0647\u0627 \u0628\u0627\u06cc\u062f \u0644\u0628\u0647\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0627 \u0631\u0648\u0646\u062f\u0647 \u067e\u0627\u0644\u0633 \u06cc\u0627 \u0644\u0628\u0647\u200c\u0647\u0627\u06cc \u067e\u0627\u06cc\u06cc\u0646 \u0631\u0648\u0646\u062f\u0647 \u067e\u0627\u0644\u0633 \u0634\u0645\u0627\u0631\u0634 \u0634\u0648\u0646\u062f. \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u062a\u0646\u0647\u0627 \u0644\u0628\u0647\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0627 \u0631\u0648\u0646\u062f\u0647 \u0634\u0645\u0627\u0631\u0634 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f. \u0628\u0647 \u0647\u0645\u06cc\u0646 \u062f\u0644\u06cc\u0644 \u0639\u0628\u0627\u0631\u062a <code>currentStateCLK == 1 <\/code> \u062f\u0631 \u0639\u0628\u0627\u0631\u062a \u0634\u0631\u0637\u06cc \u0622\u0648\u0631\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\ncurrentStateCLK = digitalRead(CLK);\n\nif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u062f\u0627\u062e\u0644 \u0639\u0628\u0627\u0631\u062a if\u060c \u062c\u0647\u062a \u0686\u0631\u062e\u0634 \u0631\u0627 \u0645\u0634\u062e\u0635 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u06a9\u0627\u0631\u060c \u067e\u0627\u06cc\u0647 DT \u0631\u0648\u06cc \u0645\u0627\u0698\u0648\u0644 \u0627\u0646\u06a9\u0648\u062f\u0631 \u0631\u0627 \u0645\u06cc\u200c\u062e\u0648\u0627\u0646\u06cc\u0645 \u0648 \u0622\u0646 \u0631\u0627 \u0628\u0627 \u062d\u0627\u0644\u062a \u0641\u0639\u0644\u06cc \u067e\u0627\u06cc\u0647 CLK \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645.<\/p>\n\n\n\n<p>\u0627\u06af\u0631 \u0627\u06cc\u0646 \u062f\u0648 \u0645\u0642\u062f\u0627\u0631 \u0645\u062a\u0641\u0627\u0648\u062a \u0628\u0627\u0634\u0646\u062f\u060c \u06cc\u0639\u0646\u06cc \u0645\u062d\u0648\u0631 \u0633\u0627\u0639\u062a\u06af\u0631\u062f \u0686\u0631\u062e\u0627\u0646\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a. \u062f\u0631 \u0627\u06cc\u0646 \u062d\u0627\u0644\u062a\u060c \u0628\u0627\u06cc\u062f \u06cc\u06a9 \u0648\u0627\u062d\u062f \u0628\u0647 \u0634\u0645\u0627\u0631\u0646\u062f\u0647 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u0645 \u0648 \u0645\u0642\u062f\u0627\u0631 CW \u0631\u0627 \u0628\u0647 \u0645\u062a\u063a\u06cc\u0631 <code>currentDir<\/code>&nbsp; \u0628\u062f\u0647\u06cc\u0645. \u0627\u0645\u0627 \u0627\u06af\u0631 \u0627\u06cc\u0646 \u062f\u0648 \u0645\u0642\u062f\u0627\u0631 \u06cc\u06a9\u0633\u0627\u0646 \u0628\u0627\u0634\u0646\u062f\u060c \u0645\u062d\u0648\u0631 \u067e\u0627\u062f\u0633\u0627\u0639\u062a\u06af\u0631\u062f \u0686\u0631\u062e\u0627\u0646\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a. \u062f\u0631 \u0627\u06cc\u0646 \u062d\u0627\u0644\u062a\u060c \u06cc\u06a9 \u0648\u0627\u062d\u062f \u0627\u0632 \u0634\u0645\u0627\u0631\u0646\u062f\u0647 \u06a9\u0645 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645 \u0648 \u0645\u0642\u062f\u0627\u0631 CCW \u0631\u0627 \u0628\u0647 \u0645\u062a\u063a\u06cc\u0631 <code>currentDir<\/code>&nbsp; \u0645\u06cc\u200c\u062f\u0647\u06cc\u0645.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nif (digitalRead(DT) != currentStateCLK) {\n    counter --;\n    currentDir =&quot;CCW&quot;;\n} else {\n    counter ++;\n    currentDir =&quot;CW&quot;;\n}\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u0646\u0647\u0627\u06cc\u062a \u062e\u0631\u0648\u062c\u06cc \u0631\u0627 \u0628\u0631 \u0631\u0648\u06cc \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0686\u0627\u067e \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645:<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nSerial.print(&quot;Direction: &quot;);\nSerial.print(currentDir);\nSerial.print(&quot; | Counter: &quot;);\nSerial.println(counter);\n<\/pre><\/div>\n\n\n<p>\u062e\u0627\u0631\u062c \u0627\u0632 \u0639\u0628\u0627\u0631\u062a if \u060c \u0645\u062a\u063a\u06cc\u0631 <code>lastStateCLK<\/code>&nbsp; \u0631\u0627 \u0646\u06cc\u0632 \u0628\u0627 \u062d\u0627\u0644\u062a \u0641\u0639\u0644\u06cc &nbsp;CLK \u0628\u0647\u200c\u0631\u0648\u0632\u0631\u0633\u0627\u0646\u06cc \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nlastStateCLK = currentStateCLK;\n<\/pre><\/div>\n\n\n<p>\u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0632\u06cc\u0631 \u062f\u0631 \u0635\u0648\u0631\u062a\u06cc\u200c\u06a9\u0647 \u0633\u0648\u06cc\u06cc\u0686 \u0641\u0634\u0631\u062f\u0647 \u0634\u0648\u062f\u060c \u062f\u0631 \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0639\u0628\u0627\u0631\u062a Button pressed \u0631\u0627 \u0686\u0627\u067e \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u0645\u0627 \u0627\u0632 \u0622\u0646\u062c\u0627\u06cc\u06cc\u200c\u06a9\u0647 \u062a\u063a\u06cc\u06cc\u0631 \u062d\u0627\u0644\u062a \u0633\u0648\u06cc\u06cc\u0686 \u0647\u0645\u0631\u0627\u0647 \u0628\u0627 \u0646\u0648\u06cc\u0632 \u0627\u0633\u062a\u060c \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u062f\u0633\u062a\u0648\u0631 <code>()millis<\/code> \u06a9\u0647 \u0632\u0645\u0627\u0646 \u0634\u0631\u0648\u0639 \u0628\u0631\u0646\u0627\u0645\u0647 \u0641\u0639\u0644\u06cc \u0631\u0627 \u0628\u0647 \u0645\u06cc\u0644\u06cc \u062b\u0627\u0646\u06cc\u0647 \u0628\u0631\u0645\u06cc\u200c\u06af\u0631\u062f\u0627\u0646\u062f\u060c \u062f\u06cc\u0628\u0627\u0646\u0633\u06cc\u0646\u06af \u0648 \u0646\u0648\u06cc\u0632\u06af\u06cc\u0631\u06cc \u06a9\u0644\u06cc\u062f \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0628\u0647 \u0627\u06cc\u0646 \u0635\u0648\u0631\u062a \u06a9\u0647 \u0627\u06af\u0631 \u06a9\u0644\u06cc\u062f \u0628\u06cc\u0634 \u0627\u0632 ms50 \u062f\u0631 \u0648\u0636\u0639\u06cc\u062a LOW \u0628\u0627\u0642\u06cc \u0645\u0627\u0646\u062f\u060c \u067e\u06cc\u063a\u0627\u0645 !Button pressed \u0628\u0631 \u0631\u0648\u06cc \u0633\u0631\u06cc\u0627\u0644 \u0645\u0627\u0646\u06cc\u062a\u0648\u0631 \u0686\u0627\u067e \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nint btnState = digitalRead(SW);\n\nif (btnState == LOW) {\n    if (millis() - lastButtonPress &gt; 50) {\n        Serial.println(&quot;Button pressed!&quot;);\n    }\n    lastButtonPress = millis();\n}\n<\/pre><\/div>\n\n\n<p>\u0633\u067e\u0633\u060c \u0647\u0645\u0647 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0628\u0627\u0644\u0627 \u0645\u062c\u062f\u062f\u0627 \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648- \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0627 \u0648\u0642\u0641\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648  <\/strong><\/h2>\n\n\n\n<p>\u0628\u0631\u0627\u06cc \u06a9\u0627\u0631 \u0628\u0627 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0627\u06cc\u062f \u062f\u0627\u0626\u0645\u0627 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0633\u06cc\u06af\u0646\u0627\u0644\u200c\u0647\u0627\u06cc CLK \u0648 DT \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u0645 \u0648 \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646\u06a9\u0647 \u0628\u0641\u0647\u0645\u06cc\u0645 \u0627\u06cc\u0646 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0686\u0647 \u0632\u0645\u0627\u0646\u06cc \u0631\u062e \u0645\u06cc\u200c\u062f\u0647\u062f\u060c \u0628\u0627\u06cc\u062f \u0628\u0647\u200c\u0637\u0648\u0631 \u067e\u06cc\u0648\u0633\u062a\u0647 \u0627\u0632 \u0622\u0646\u200c\u0647\u0627 \u0646\u0645\u0648\u0646\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u06a9\u0646\u06cc\u0645 (\u0645\u0627\u0646\u0646\u062f \u0622\u0646\u0686\u0647 \u062f\u0631 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0642\u0628\u0644\u06cc \u0627\u0646\u062c\u0627\u0645 \u062f\u0627\u062f\u06cc\u0645). \u0627\u0644\u0628\u062a\u0647 \u0627\u06cc\u0646 \u0631\u0648\u0634 \u0645\u0646\u0627\u0633\u0628 \u0646\u06cc\u0633\u062a. \u0632\u06cc\u0631\u0627:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>\u0628\u0627 \u0627\u06cc\u0646 \u0631\u0648\u0634\u060c \u062f\u0627\u0626\u0645\u0627 \u0645\u062c\u0628\u0648\u0631\u06cc\u0645 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0622\u06cc\u0627 \u062a\u063a\u06cc\u06cc\u0631\u06cc \u0631\u062e \u062f\u0627\u062f\u0647 \u0627\u0633\u062a \u06cc\u0627 \u0646\u0647. \u0628\u0647 \u0647\u0645\u06cc\u0646 \u062f\u0644\u06cc\u0644 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u062f\u0627\u0626\u0645\u0627 \u0645\u0634\u063a\u0648\u0644 \u062e\u0648\u0627\u0647\u062f \u0628\u0648\u062f.<\/li><li>\u0627\u0632 \u0644\u062d\u0638\u0647 \u0648\u0642\u0648\u0639 \u062a\u0627 \u0644\u062d\u0638\u0647 \u0686\u06a9 \u06a9\u0631\u062f\u0646 \u0646\u0648\u0639\u06cc \u062a\u0627\u062e\u06cc\u0631 \u0648\u062c\u0648\u062f \u062e\u0648\u0627\u0647\u062f \u062f\u0627\u0634\u062a. \u0627\u06af\u0631 \u0644\u0627\u0632\u0645 \u0628\u0627\u0634\u062f \u06a9\u0647 \u0628\u0644\u0627\u0641\u0627\u0635\u0644\u0647 \u0648\u0627\u06a9\u0646\u0634 \u0646\u0634\u0627\u0646 \u062f\u0647\u06cc\u0645\u060c \u0628\u0627 \u0627\u06cc\u0646 \u062a\u0627\u062e\u06cc\u0631 \u0645\u0648\u0627\u062c\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u0634\u062f.<\/li><li>\u0627\u06cc\u0646 \u0627\u062d\u062a\u0645\u0627\u0644 \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f \u06a9\u0647 \u0628\u0631\u062e\u06cc \u0627\u0632 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0633\u06cc\u06af\u0646\u0627\u0644\u060c \u062f\u0631 \u0635\u0648\u0631\u062a\u06cc\u200c\u06a9\u0647 \u0645\u062f\u062a \u0632\u0645\u0627\u0646 \u062a\u063a\u06cc\u06cc\u0631 \u06a9\u0648\u062a\u0627\u0647 \u0628\u0627\u0634\u062f\u060c \u0622\u0634\u06a9\u0627\u0631\u0633\u0627\u0632\u06cc \u0646\u0634\u0648\u062f.<\/li><\/ul>\n\n\n\n<p>\u0628\u0627 \u062a\u0648\u062c\u0647 \u0628\u0647 \u0627\u06cc\u0646 \u062f\u0644\u0627\u06cc\u0644\u060c \u0628\u0647\u062a\u0631\u06cc\u0646 \u0631\u0648\u0634 \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 \u0628\u0631\u0627\u06cc \u0646\u0645\u0648\u0646\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u06a9\u0647 \u0628\u0647\u200c\u0635\u0648\u0631\u062a \u06af\u0633\u062a\u0631\u062f\u0647 \u0645\u0648\u0631\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0642\u0631\u0627\u0631 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f\u060c \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0648\u0642\u0641\u0647 \u0627\u0633\u062a. \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0648\u0642\u0641\u0647\u060c \u0646\u06cc\u0627\u0632\u06cc \u0646\u06cc\u0633\u062a \u06a9\u0647 \u062f\u0627\u0626\u0645\u0627 \u0627\u0632 \u06cc\u06a9 \u0631\u0648\u06cc\u062f\u0627\u062f \u062e\u0627\u0635 \u0646\u0645\u0648\u0646\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc \u06a9\u0646\u06cc\u062f. \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0628\u0627\u0639\u062b \u0645\u06cc\u200c\u0634\u0648\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0628\u0631\u0627\u06cc \u0627\u0646\u062c\u0627\u0645 \u06a9\u0627\u0631\u0647\u0627\u06cc \u062f\u06cc\u06af\u0631 \u0622\u0632\u0627\u062f \u0628\u0627\u0634\u062f \u0648 \u0647\u06cc\u0686 \u0631\u0648\u06cc\u062f\u0627\u062f\u06cc \u0631\u0627 \u0646\u06cc\u0632 \u0627\u0632 \u062f\u0633\u062a \u0646\u062f\u0647\u062f.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc<\/strong><\/h3>\n\n\n\n<p>\u062f\u0631 \u0628\u062e\u0634 \u0642\u0628\u0644 \u06cc\u0627\u062f \u06af\u0631\u0641\u062a\u06cc\u062f \u06a9\u0647 \u0628\u0647\u062a\u0631\u06cc\u0646 \u0631\u0648\u0634 \u0628\u0647 \u062c\u0627\u06cc \u0646\u0645\u0648\u0646\u0647\u200c\u0628\u0631\u062f\u0627\u0631\u06cc\u060c \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0648\u0642\u0641\u0647 \u0627\u0633\u062a. \u0627\u0645\u0627 \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627\u060c \u0645\u06cc\u200c\u062e\u0648\u0627\u0647\u06cc\u0645 \u0646\u062d\u0648\u0647 \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u0631\u0648\u0634 \u0631\u0627 \u0628\u0647 \u0634\u0645\u0627 \u0646\u0634\u0627\u0646 \u062f\u0647\u06cc\u0645.<\/p>\n\n\n\n<p>\u0627\u0632 \u0622\u0646\u062c\u0627\u06cc\u06cc\u200c\u06a9\u0647 \u0627\u06a9\u062b\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\u0647\u0627 (\u0645\u0627\u0646\u0646\u062f Arduino UNO) \u062a\u0646\u0647\u0627 \u062f\u0627\u0631\u0627\u06cc \u062f\u0648 \u0648\u0642\u0641\u0647 \u062e\u0627\u0631\u062c\u06cc \u0647\u0633\u062a\u0646\u062f\u060c \u0634\u0645\u0627 \u0641\u0642\u0637 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0633\u06cc\u06af\u0646\u0627\u0644\u200c\u0647\u0627\u06cc CLK \u0648 DT \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u062f. \u0628\u0647 \u0647\u0645\u06cc\u0646 \u062f\u0644\u06cc\u0644\u060c \u0628\u0627\u06cc\u062f \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u067e\u0627\u06cc\u0647 SW \u0631\u0627 \u06a9\u0647 \u062f\u0631 \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u0642\u0628\u0644\u06cc \u0627\u0646\u062c\u0627\u0645 \u062f\u0627\u062f\u06cc\u062f\u060c \u062d\u0630\u0641 \u06a9\u0646\u06cc\u062f.<\/p>\n\n\n\n<p>\u0628\u0627 \u062d\u0630\u0641 \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u0627\u06cc\u0646 \u067e\u0627\u06cc\u0647\u060c \u0646\u062a\u06cc\u062c\u0647 \u06a9\u0627\u0631 \u0634\u0645\u0627 \u0628\u0647 \u0634\u06a9\u0644 \u0632\u06cc\u0631 \u062e\u0648\u0627\u0647\u062f \u0634\u062f:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"567\" height=\"314\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/control-rotary-encoder-using-interrupts-with-arduino-uno.png\" alt=\"\u0646\u062d\u0648\u0647 \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0628\u062f\u0648\u0646 \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u067e\u0627\u06cc\u0647 SW  \" class=\"wp-image-16884\" srcset=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/control-rotary-encoder-using-interrupts-with-arduino-uno.png 567w, https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/control-rotary-encoder-using-interrupts-with-arduino-uno-300x166.png 300w\" sizes=\"auto, (max-width: 567px) 100vw, 567px\" \/><figcaption><br>\u0646\u062a\u06cc\u062c\u0647 \u0646\u0647\u0627\u06cc\u06cc \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u062f\u0648\u0646 \u0633\u06cc\u0645 \u06a9\u0634\u06cc \u067e\u0627\u06cc\u0647 SW<\/figcaption><\/figure><\/div>\n\n\n\n<p><br>\u0628\u0631\u062e\u06cc \u0628\u0631\u062f\u0647\u0627 (\u0645\u0627\u0646\u0646\u062f \u0628\u0631\u062f Arduino mega 2560) \u0648\u0642\u0641\u0647\u200c\u0647\u0627\u06cc \u062e\u0627\u0631\u062c\u06cc \u0628\u06cc\u0634\u062a\u0631\u06cc \u062f\u0627\u0631\u0646\u062f. \u0627\u06af\u0631 \u0634\u0645\u0627 \u06cc\u06a9\u06cc \u0627\u0632 \u0622\u0646\u200c\u0647\u0627 \u0631\u0627 \u062f\u0627\u0631\u06cc\u062f \u0648 \u0645\u06cc\u200c\u062e\u0648\u0627\u0647\u06cc\u062f \u0627\u0632 \u0622\u0646 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u062f\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u067e\u0627\u06cc\u0647 SW \u0631\u0627 \u0646\u06af\u0647 \u062f\u0627\u0631\u06cc\u062f \u0648 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0628\u062e\u0634 \u0628\u0639\u062f\u06cc \u0631\u0627 \u06a9\u0647 \u0634\u0627\u0645\u0644 \u06a9\u062f\u0647\u0627\u06cc \u06a9\u0644\u06cc\u062f \u0641\u0634\u0627\u0631\u06cc \u0627\u0633\u062a\u060c \u0628\u0647\u200c\u06a9\u0627\u0631 \u0628\u0628\u0631\u06cc\u062f.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u06a9\u062f <strong>\u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/strong><\/h3>\n\n\n\n<p>\u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0632\u06cc\u0631\u060c \u06a9\u0627\u0631\u0628\u0631\u062f \u0648\u0642\u0641\u0647 \u0631\u0627 \u0647\u0646\u06af\u0627\u0645 \u062e\u0648\u0627\u0646\u062f\u0646 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\n\/\/ Rotary Encoder Inputs\n#define CLK 2\n#define DT 3\n\nint counter = 0;\nint currentStateCLK;\nint lastStateCLK;\nString currentDir =&quot;&quot;;\n\nvoid setup() {\n\t\n\t\/\/ Set encoder pins as inputs\n\tpinMode(CLK,INPUT);\n\tpinMode(DT,INPUT);\n\n\t\/\/ Setup Serial Monitor\n\tSerial.begin(9600);\n\n\t\/\/ Read the initial state of CLK\n\tlastStateCLK = digitalRead(CLK);\n\t\n\t\/\/ Call updateEncoder() when any high\/low changed seen\n\t\/\/ on interrupt 0 (pin 2), or interrupt 1 (pin 3)\n\tattachInterrupt(0, updateEncoder, CHANGE);\n\tattachInterrupt(1, updateEncoder, CHANGE);\n}\n\nvoid loop() {\n\t\/\/Do some useful stuff here\n}\n\nvoid updateEncoder(){\n\t\/\/ Read the current state of CLK\n\tcurrentStateCLK = digitalRead(CLK);\n\n\t\/\/ If last and current state of CLK are different, then pulse occurred\n\t\/\/ React to only 1 state change to avoid double count\n\tif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){\n\n\t\t\/\/ If the DT state is different than the CLK state then\n\t\t\/\/ the encoder is rotating CCW so decrement\n\t\tif (digitalRead(DT) != currentStateCLK) {\n\t\t\tcounter --;\n\t\t\tcurrentDir =&quot;CCW&quot;;\n\t\t} else {\n\t\t\t\/\/ Encoder is rotating CW so increment\n\t\t\tcounter ++;\n\t\t\tcurrentDir =&quot;CW&quot;;\n\t\t}\n\n\t\tSerial.print(&quot;Direction: &quot;);\n\t\tSerial.print(currentDir);\n\t\tSerial.print(&quot; | Counter: &quot;);\n\t\tSerial.println(counter);\n\t}\n\n\t\/\/ Remember last CLK state\n\tlastStateCLK = currentStateCLK;\n}\n<\/pre><\/div>\n\n\n<p><br>\u0628\u0647 \u0627\u06cc\u0646 \u0646\u06a9\u062a\u0647 \u062d\u062a\u0645\u0627 \u062f\u0642\u062a \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u06cc\u062f \u06a9\u0647 \u062d\u0644\u0642\u0647 \u0627\u0635\u0644\u06cc \u062f\u0631 \u0627\u06cc\u0646 \u0628\u0631\u0646\u0627\u0645\u0647 \u062e\u0627\u0644\u06cc \u0646\u06af\u0647 \u062f\u0627\u0634\u062a\u0647 \u0634\u0648\u062f \u062a\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0645\u0634\u063a\u0648\u0644 \u0627\u0646\u062c\u0627\u0645 \u0647\u06cc\u0686 \u06a9\u0627\u0631\u06cc \u0646\u0628\u0627\u0634\u062f.<\/p>\n\n\n\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u062f\u0633\u062a\u0648\u0631\u0627\u062a\u060c \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 2 (\u0648\u0642\u0641\u0647 \u0634\u0645\u0627\u0631\u0647 0) \u0628\u0647 CLK \u0648 \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 3 (\u0648\u0642\u0641\u0647 \u0634\u0645\u0627\u0631\u0647 1) \u0628\u0647 DT \u0645\u062a\u0635\u0644 \u0634\u062f\u0647 \u0627\u0633\u062a \u0648 \u0648\u0636\u0639\u06cc\u062a \u0622\u0646\u200c\u0647\u0627 \u062a\u0648\u0633\u0637 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0628\u0631\u0631\u0633\u06cc \u0645\u06cc\u200c\u0634\u0648\u062f. \u0647\u0631 \u062a\u063a\u06cc\u06cc\u0631 \u0648\u0644\u062a\u0627\u0698 \u0627\u0632 HIGH &nbsp;\u0628\u0647LOW &nbsp;\u0648 \u0627\u0632 LOW \u0628\u0647HIGH &nbsp;\u0628\u0647 \u0627\u06cc\u0646 \u0645\u0639\u0646\u0627 \u0627\u0633\u062a \u06a9\u0647 \u0645\u062d\u0648\u0631 \u0686\u0631\u062e\u0627\u0646\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a. \u0647\u0631 \u0632\u0645\u0627\u0646 \u06a9\u0647 \u0627\u06cc\u0646 \u0627\u062a\u0641\u0627\u0642 \u0631\u062e \u062f\u0627\u062f\u060c \u062a\u0627\u0628\u0639 <code>updateEncoder<\/code> (\u06a9\u0647 \u0627\u063a\u0644\u0628 \u0631\u0648\u062a\u06cc\u0646 \u0633\u0631\u0648\u06cc\u0633 \u0648\u0642\u0641\u0647 \u06cc\u0627 \u0628\u0647 \u0627\u062e\u062a\u0635\u0627\u0631 ISR \u0646\u0627\u0645\u06cc\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f) \u0641\u0631\u0627\u062e\u0648\u0627\u0646\u06cc \u062e\u0648\u0627\u0647\u062f \u0634\u062f. \u0628\u0627 \u0641\u0631\u0627\u062e\u0648\u0627\u0646\u06cc \u062a\u0627\u0628\u0639\u060c \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0622\u0646 \u0627\u062c\u0631\u0627 \u0645\u06cc\u200c\u0634\u0648\u062f \u0648 \u0633\u067e\u0633 \u0628\u0631\u0646\u0627\u0645\u0647 \u0628\u0647 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0642\u0628\u0644\u06cc \u0628\u0627\u0632 \u0645\u06cc\u200c\u06af\u0631\u062f\u062f.<\/p>\n\n\n\n<p>\u0647\u0645\u0647 \u0645\u0648\u0627\u0631\u062f\u06cc \u06a9\u0647 \u06af\u0641\u062a\u0647 \u0634\u062f\u060c \u062a\u0648\u0633\u0637 \u062a\u0627\u0628\u0639 <code>()attachInterrupt<\/code> \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u062f\u0627\u0631\u0627\u06cc \u0633\u0647 \u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u0627\u0633\u062a.<\/p>\n\n\n\n<p>\u062f\u0631 \u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u0627\u0648\u0644\u060c \u0627\u0628\u062a\u062f\u0627 \u0628\u0627\u06cc\u062f \u0634\u0645\u0627\u0631\u0647 \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644\u06cc \u0631\u0627 \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0648\u0642\u0641\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f (\u062f\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 UNO \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 2 \u0648 3 \u0628\u0631\u0627\u06cc \u0648\u0642\u0641\u0647 \u0627\u062e\u062a\u0635\u0627\u0635 \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a)\u060c \u0628\u0646\u0648\u06cc\u0633\u06cc\u0645. \u0639\u0644\u0627\u0648\u0647 \u0628\u0631 \u0627\u06cc\u0646\u060c \u062f\u0631 \u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u0627\u0648\u0644 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0628\u0647 \u062c\u0627\u06cc \u0634\u0645\u0627\u0631\u0647 \u067e\u0627\u06cc\u0647\u060c \u0634\u0645\u0627\u0631\u0647 \u0648\u0642\u0641\u0647 \u0631\u0627 \u0642\u0631\u0627\u0631 \u062f\u0627\u062f. \u0647\u0645\u0627\u0646\u200c\u0637\u0648\u0631 \u06a9\u0647 \u0642\u0628\u0644\u0627 \u06af\u0641\u062a\u0647 \u0634\u062f \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 2 \u0645\u0631\u0628\u0648\u0637 \u0628\u0647 \u0648\u0642\u0641\u0647 0 \u0648 \u067e\u0627\u06cc\u0647 \u062f\u06cc\u062c\u06cc\u062a\u0627\u0644 3 \u0645\u0631\u0628\u0648\u0637 \u0628\u0647 \u0648\u0642\u0641\u0647 1 \u0627\u0633\u062a.<\/p>\n\n\n\n<p>\u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u062f\u0648\u0645 \u0645\u0631\u0628\u0648\u0637 \u0628\u0647 ISR \u06cc\u0627 \u0631\u0648\u062a\u06cc\u0646 \u0633\u0631\u0648\u06cc\u0633 \u0648\u0642\u0641\u0647 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627\u06cc\u062f \u067e\u0633 \u0627\u0632 \u0631\u062e \u062f\u0627\u062f\u0646 \u0648\u0642\u0641\u0647 \u0627\u062c\u0631\u0627 \u0634\u0648\u062f. \u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u0633\u0648\u0645 \u0646\u06cc\u0632 \u0645\u0634\u062e\u0635 \u0645\u06cc\u200c\u06a9\u0646\u062f \u06a9\u0647 \u0686\u0647 \u0632\u0645\u0627\u0646\u06cc \u0648\u0642\u0641\u0647 \u0628\u0627\u06cc\u062f \u0627\u06cc\u062c\u0627\u062f \u0634\u0648\u062f. \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u060c change \u0642\u0631\u0627\u0631 \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a \u0648 \u0628\u0627\u0639\u062b \u0645\u06cc\u200c\u0634\u0648\u062f \u0647\u0631 \u0632\u0645\u0627\u0646 \u06a9\u0647 \u0645\u0642\u062f\u0627\u0631 \u067e\u0627\u06cc\u0647 \u062a\u063a\u06cc\u06cc\u0631 \u06a9\u0646\u062f (\u0647\u0631 \u062a\u063a\u06cc\u06cc\u0631 \u0648\u0644\u062a\u0627\u0698 \u0627\u0632 HIGH \u0628\u0647 LOW \u0648 \u0647\u0631 \u062a\u063a\u06cc\u06cc\u0631 LOW \u0628\u0647 HIGH)\u060c \u0648\u0642\u0641\u0647 \u0627\u06cc\u062c\u0627\u062f \u0634\u0648\u062f.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nattachInterrupt(0, updateEncoder, CHANGE);\nattachInterrupt(1, updateEncoder, CHANGE);\n<\/pre><\/div>\n\n\n<h2 class=\"wp-block-heading\"><strong>\u06a9\u0646\u062a\u0631\u0644 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0627 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631<\/strong><\/h2>\n\n\n\n<p>\u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u067e\u0631\u0648\u0698\u0647 \u062f\u06cc\u06af\u0631\u06cc \u0628\u0631\u0627\u06cc \u0634\u0645\u0627 \u062f\u0631 \u0646\u0638\u0631 \u06af\u0631\u0641\u062a\u06cc\u0645 \u0648 \u0622\u0646 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0642\u0639\u06cc\u062a \u06cc\u06a9 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0627\u0633\u062a. \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u062f\u0631 \u0645\u0648\u0642\u0639\u06cc\u062a\u200c\u0647\u0627\u06cc \u0628\u0633\u06cc\u0627\u0631\u06cc \u0645\u0648\u0631\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0642\u0631\u0627\u0631 \u0628\u06af\u06cc\u0631\u062f. \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0645\u062b\u0627\u0644\u060c \u0632\u0645\u0627\u0646\u06cc\u200c\u06a9\u0647 \u0645\u06cc\u200c\u062e\u0648\u0627\u0647\u06cc\u062f \u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a \u062e\u0648\u062f \u0631\u0627 \u062d\u0631\u06a9\u062a \u062f\u0647\u06cc\u062f\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u0632 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u062f\u060c \u0632\u06cc\u0631\u0627 \u0628\u0647 \u0634\u0645\u0627 \u0627\u06cc\u0646 \u0627\u0645\u06a9\u0627\u0646 \u0631\u0627 \u0645\u06cc\u200c\u062f\u0647\u062f \u062a\u0627 \u0648\u0636\u0639\u06cc\u062a \u0628\u0627\u0632\u0648 \u0631\u0627 \u0628\u0647 \u062f\u0642\u062a \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u06cc\u062f.<\/p>\n\n\n\n<p>\u0627\u06af\u0631 \u0642\u0628\u0644\u0627 \u0628\u0627 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u06a9\u0627\u0631 \u0646\u06a9\u0631\u062f\u06cc\u062f\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u0628\u062a\u062f\u0627 \u0622\u0645\u0648\u0632\u0634 \u0632\u06cc\u0631 \u0631\u0627 \u0645\u0637\u0627\u0644\u0639\u0647 \u06a9\u0646\u06cc\u062f \u0648 \u067e\u0633 \u0627\u0632 \u0622\u0646 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u0631\u0627 \u0627\u0646\u062c\u0627\u0645 \u062f\u0647\u06cc\u062f. <\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/Tutorial-for-Interfacing-Servo-Motor-with-Arduino-150x150-1.jpg\" alt=\"\u0622\u0645\u0648\u0632\u0634 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \" class=\"wp-image-16865\" width=\"180\" height=\"180\"\/><\/figure><\/div>\n\n\n\n<p class=\"has-text-align-center\"><strong><a href=\"https:\/\/roboeq.ir\/blog\/%d8%b1%d8%a7%d9%87-%d8%a7%d9%86%d8%af%d8%a7%d8%b2%db%8c-%d8%b3%d8%b1%d9%88%d9%88-%d9%85%d9%88%d8%aa%d9%88%d8%b1-%d8%a8%d8%a7-%d8%a2%d8%b1%d8%af%d9%88%db%8c%d9%86%d9%88\/\">\u0622\u0634\u0646\u0627\u06cc\u06cc \u0628\u0627 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0648 \u0646\u062d\u0648\u0647 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0622\u0646 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/a><\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc<\/strong><\/h3>\n\n\n\n<p>\u0647\u0645\u0627\u0646\u200c\u0637\u0648\u0631 \u06a9\u0647 \u062f\u0631 \u062a\u0635\u0648\u06cc\u0631 \u0632\u06cc\u0631 \u0645\u06cc\u200c\u0628\u06cc\u0646\u06cc\u062f\u060c \u0639\u0644\u0627\u0648\u0647 \u0628\u0631 \u0642\u0637\u0639\u0627\u062a\u06cc \u06a9\u0647 \u062f\u0631 \u067e\u0631\u0648\u0698\u0647\u200c\u0647\u0627\u06cc \u0642\u0628\u0644\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0631\u062f\u06cc\u062f\u060c \u0628\u0647 \u06cc\u06a9 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0647\u0645 \u0646\u06cc\u0627\u0632 \u062e\u0648\u0627\u0647\u06cc\u062f \u062f\u0627\u0634\u062a.<\/p>\n\n\n\n<p>\u0628\u0631\u0627\u06cc \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc\u060c \u0633\u06cc\u0645 \u0642\u0631\u0645\u0632 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0628\u0647 \u062a\u063a\u0630\u06cc\u0647 5V \u062e\u0627\u0631\u062c\u06cc\u060c \u0633\u06cc\u0645 \u0645\u0634\u06a9\u06cc \u06cc\u0627 \u0642\u0647\u0648\u0647\u200c\u0627\u06cc \u0631\u0627 \u0628\u0647 \u0632\u0645\u06cc\u0646 \u0648 \u0633\u06cc\u0645 \u0632\u0631\u062f \u06cc\u0627 \u0646\u0627\u0631\u0646\u062c\u06cc \u0631\u0627 \u0628\u0647 \u067e\u0627\u06cc\u0647 9 \u06a9\u0647 &nbsp;PWM \u0627\u0633\u062a\u060c \u0648\u0635\u0644 \u0646\u0645\u0627\u06cc\u06cc\u062f. \u0627\u0644\u0628\u062a\u0647 \u0634\u0645\u0627 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u0632 5V \u062e\u0631\u0648\u062c\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0646\u06cc\u0632 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u062f\u060c \u0627\u0645\u0627 \u0628\u0647 \u06cc\u0627\u062f \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u06cc\u062f \u06a9\u0647 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u062f\u0627\u0631\u0627\u06cc \u0646\u0648\u06cc\u0632 \u0627\u0644\u06a9\u062a\u0631\u06cc\u06a9\u06cc \u0627\u0633\u062a \u0648 \u0628\u0631 \u0631\u0648\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u062b\u0631\u0627\u062a \u0646\u0627\u0645\u0637\u0644\u0648\u0628\u06cc \u0645\u06cc\u200c\u06af\u0630\u0627\u0631\u062f. \u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646 \u0628\u0647 \u0634\u0645\u0627 \u062a\u0648\u0635\u06cc\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645 \u062d\u062a\u0645\u0627 \u0627\u0632 \u06cc\u06a9 \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 \u062e\u0627\u0631\u062c\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u062f.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"625\" height=\"447\" src=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/wiring-for-controlling-servo-motor-with-rotary-encoder.png\" alt=\"\u0646\u062d\u0648\u0647 \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 \u062e\u0627\u0631\u062c\u06cc\" class=\"wp-image-16885\" srcset=\"https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/wiring-for-controlling-servo-motor-with-rotary-encoder.png 625w, https:\/\/roboeq.ir\/blog\/wp-content\/uploads\/2021\/03\/wiring-for-controlling-servo-motor-with-rotary-encoder-300x215.png 300w\" sizes=\"auto, (max-width: 625px) 100vw, 625px\" \/><figcaption><br>\u0646\u062a\u06cc\u062c\u0647 \u0646\u0647\u0627\u06cc\u06cc \u0627\u062a\u0635\u0627\u0644 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u0645\u0646\u0628\u0639 \u062a\u063a\u0630\u06cc\u0647 \u062e\u0627\u0631\u062c\u06cc<\/figcaption><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/strong><\/h3>\n\n\n\n<p>\u067e\u0633 \u0627\u062a\u0635\u0627\u0644 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\u060c \u0628\u0627\u06cc\u062f \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0622\u0646 \u0631\u0627 \u0628\u0627\u0631\u06af\u0630\u0627\u0631\u06cc \u06a9\u0646\u06cc\u062f. \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0632\u06cc\u0631 \u0627\u0645\u06a9\u0627\u0646 \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0647 \u0634\u0645\u0627 \u0645\u06cc\u200c\u062f\u0647\u062f. \u0628\u0627 \u0686\u0631\u062e\u0634 \u0645\u062d\u0648\u0631 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0648 \u0628\u0647 \u0627\u0632\u0627\u06cc \u0647\u0631 \u067e\u0627\u0644\u0633\u060c \u0645\u0648\u0642\u0639\u06cc\u062a \u0628\u0627\u0632\u0648\u06cc \u0633\u0631\u0648\u0648 \u06cc\u06a9 \u062f\u0631\u062c\u0647 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\n\/\/ Include the Servo Library\n#include &lt;Servo.h&gt;\n\n\/\/ Rotary Encoder Inputs\n#define CLK 2\n#define DT 3\n\nServo servo;\nint counter = 0;\nint currentStateCLK;\nint lastStateCLK;\n\nvoid setup() {\n\t\n\t\/\/ Set encoder pins as inputs\n\tpinMode(CLK,INPUT);\n\tpinMode(DT,INPUT);\n\t\n\t\/\/ Setup Serial Monitor\n\tSerial.begin(9600);\n\t\n\t\/\/ Attach servo on pin 9 to the servo object\n\tservo.attach(9);\n\tservo.write(counter);\n\t\n\t\/\/ Read the initial state of CLK\n\tlastStateCLK = digitalRead(CLK);\n}\n\nvoid loop() {\n\t\n\t\/\/ Read the current state of CLK\n\tcurrentStateCLK = digitalRead(CLK);\n\t\n\t\/\/ If last and current state of CLK are different, then pulse occurred\n\t\/\/ React to only 1 state change to avoid double count\n\tif (currentStateCLK != lastStateCLK  &amp;&amp; currentStateCLK == 1){\n\t\t\n\t\t\/\/ If the DT state is different than the CLK state then\n\t\t\/\/ the encoder is rotating CCW so decrement\n\t\tif (digitalRead(DT) != currentStateCLK) {\n\t\t\tcounter --;\n\t\t\tif (counter&lt;0)\n\t\t\t\tcounter=0;\n\t\t} else {\n\t\t\t\/\/ Encoder is rotating CW so increment\n\t\t\tcounter ++;\n\t\t\tif (counter&gt;179)\n\t\t\t\tcounter=179;\n\t\t}\n\t\t\/\/ Move the servo\n\t\tservo.write(counter);\n\t\tSerial.print(&quot;Position: &quot;);\n\t\tSerial.println(counter);\n\t}\n\t\n\t\/\/ Remember last CLK state\n\tlastStateCLK = currentStateCLK;\n}\n<\/pre><\/div>\n\n\n<p><br>\u0627\u06cc\u0646 \u062f\u0633\u062a\u0648\u0631\u0627\u062a\u060c \u0634\u0628\u0627\u0647\u062a \u0632\u06cc\u0627\u062f\u06cc \u0628\u0647 \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0642\u0628\u0644\u06cc \u062f\u0627\u0631\u062f. \u0627\u0645\u0627 \u062f\u0631 \u0628\u0631\u062e\u06cc \u0645\u0648\u0627\u0631\u062f \u0647\u0645 \u062a\u0641\u0627\u0648\u062a\u200c\u0647\u0627\u06cc\u06cc \u0628\u0627 \u06cc\u06a9\u200c\u062f\u06cc\u06af\u0631 \u062f\u0627\u0631\u0646\u062f.<\/p>\n\n\n\n<p>\u062f\u0631 \u0627\u0628\u062a\u062f\u0627 \u0627\u06cc\u0646 \u062f\u0633\u062a\u0648\u0631\u0627\u062a\u060c \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u062f\u0627\u062e\u0644\u06cc \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0641\u0631\u0627\u062e\u0648\u0627\u0646\u06cc \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. \u0633\u067e\u0633 \u06cc\u06a9 \u0634\u0626 \u0628\u0631\u0627\u06cc \u0645\u0639\u0631\u0641\u06cc \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc\u200c\u0646\u0645\u0627\u06cc\u06cc\u0645.<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\n#include &lt;Servo.h&gt;\n\nServo servo;\n\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u0628\u062e\u0634 Setup\u060c \u0634\u0626 \u0633\u0631\u0648\u0648 \u0631\u0627 \u0628\u0647 \u067e\u0627\u06cc\u0647 9 \u0645\u062a\u0635\u0644 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. (\u067e\u0627\u06cc\u0647 \u06a9\u0646\u062a\u0631\u0644\u06cc \u06a9\u0647 \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u0622\u0646 \u0645\u062a\u0635\u0644 \u0634\u062f\u0647 \u0627\u0633\u062a.)<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nservo.attach(9);\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u0628\u062e\u0634 loop \u060c \u067e\u0627\u0631\u0627\u0645\u062a\u0631 counter \u0631\u0627 \u0628\u06cc\u0646 0 \u062a\u0627 179 \u0645\u062d\u062f\u0648\u062f \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645\u060c \u0632\u06cc\u0631\u0627 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0627\u0646\u062a\u062e\u0627\u0628 \u0634\u062f\u0647 180 \u062f\u0631\u062c\u0647 \u0627\u0633\u062a. \u062f\u0631 \u0648\u0627\u0642\u0639 \u00a0\u0627\u0632 \u0622\u0646\u062c\u0627\u06cc\u06cc\u200c\u06a9\u0647 \u0633\u0631\u0648\u0648 \u0646\u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0628\u06cc\u0634 \u0627\u0632 \u0627\u06cc\u0646 \u0645\u0642\u062f\u0627\u0631 \u0628\u0686\u0631\u062e\u062f\u060c \u0627\u06af\u0631 \u062a\u0639\u062f\u0627\u062f \u067e\u0627\u0644\u0633\u200c\u0647\u0627 \u0628\u06cc\u0634 \u0627\u0632 179 \u0634\u0648\u062f\u060c \u0639\u062f\u062f 179 \u0631\u0627 \u0628\u0631\u0627\u06cc \u062a\u0639\u062f\u0627\u062f \u067e\u0627\u0644\u0633\u200c\u0647\u0627\u06cc \u0628\u06cc\u0634 \u0627\u0632 179 \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. \u0627\u0645\u0627 \u062f\u0631 \u0635\u0648\u0631\u062a\u06cc\u200c\u06a9\u0647 counter \u0645\u0646\u0641\u06cc \u0634\u0648\u062f\u060c \u0632\u0648\u0627\u06cc\u0627\u06cc \u0645\u0646\u0641\u06cc \u0628\u0627 \u0635\u0641\u0631 \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f\u060c \u0632\u06cc\u0631\u0627 \u062d\u062f\u0627\u0642\u0644 \u0632\u0627\u0648\u06cc\u0647\u200c\u0627\u06cc \u06a9\u0647 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0686\u0631\u062e\u0634 \u06a9\u0646\u062f\u060c \u0635\u0641\u0631 \u062f\u0631\u062c\u0647 \u0627\u0633\u062a. <\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nif (digitalRead(DT) != currentStateCLK) {\n    counter --;\n    if (counter&lt;0)\n        counter=0;\n} else {\n    counter ++;\n    if (counter&gt;179)\n        counter=179;\n}\n<\/pre><\/div>\n\n\n<p>\u062f\u0631 \u0622\u062e\u0631 \u0647\u0645\u060c \u067e\u0633 \u0627\u0632 \u0645\u0634\u062e\u0635 \u0634\u062f\u0646 \u0645\u06cc\u0632\u0627\u0646 \u0632\u0627\u0648\u06cc\u0647 \u0686\u0631\u062e\u0634 \u062a\u0648\u0633\u0637 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 (\u067e\u0627\u0631\u0627\u0645\u062a\u0631 counter)\u060c \u0628\u0627\u06cc\u062f \u0628\u0647 \u0633\u0631\u0648\u0648 \u062f\u0633\u062a\u0648\u0631 \u062d\u0631\u06a9\u062a \u0628\u062f\u0647\u06cc\u0645.&nbsp; \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u0627\u0632 \u062f\u0633\u062a\u0648\u0631&nbsp; ()servo.write \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. \u062f\u0631 \u0648\u0627\u0642\u0639 \u0627\u06cc\u0646 \u062f\u0633\u062a\u0648\u0631\u060c \u062a\u0648\u0633\u0637 \u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u062f\u0627\u062e\u0644 \u067e\u0631\u0627\u0646\u062a\u0632\u060c \u0633\u0631\u0648\u0648 \u0631\u0627&nbsp; \u062f\u0631 \u0645\u0648\u0642\u0639\u06cc\u062a \u0645\u0634\u062e\u0635 \u0634\u062f\u0647 \u0642\u0631\u0627\u0631 \u0645\u06cc\u200c\u062f\u0647\u062f \u06a9\u0647 \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 counter \u0627\u0633\u062a. <\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: arduino; title: ; notranslate\" title=\"\">\nservo.write(counter);\n<\/pre><\/div>\n\n\n<h2 class=\"wp-block-heading\" id=\"h--2\"><strong>\u0645\u0631\u0648\u0631\u06cc \u0628\u0631 \u0622\u0646\u0686\u0647 \u06af\u0641\u062a\u0647 \u0634\u062f <\/strong><\/h2>\n\n\n\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0631\u0627\u06cc \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u06cc\u0627 \u0647\u0645\u0627\u0646 \u0627\u0646\u06a9\u0648\u062f\u0631 \u0686\u0631\u062e\u0634\u06cc \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\u060c \u0627\u0628\u062a\u062f\u0627 \u0634\u0645\u0627 \u0631\u0627 \u0628\u0627 \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0648 \u0646\u062d\u0648\u0647 \u0639\u0645\u06a9\u0644\u0631\u062f \u0622\u0646 \u0622\u0634\u0646\u0627 \u06a9\u0631\u062f\u06cc\u0645. \u0627\u0645\u0627 \u0647\u0645\u0627\u0646\u200c\u0637\u0648\u0631 \u06a9\u0647 \u062f\u06cc\u062f\u06cc\u062f\u060c \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646\u06a9\u0647 \u0628\u062a\u0648\u0627\u0646\u06cc\u062f \u0628\u0627 \u0627\u0646\u06a9\u0648\u062f\u0631 \u06a9\u0627\u0631 \u06a9\u0646\u06cc\u062f\u060c \u062d\u062a\u0645\u0627 \u0628\u0627\u06cc\u062f \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0633\u06cc\u06af\u0646\u0627\u0644\u200c\u0647\u0627 \u0631\u0627 \u062f\u0627\u0626\u0645\u0627 \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u06cc\u062f \u0648 \u0627\u06cc\u0646 \u0631\u0648\u0634 \u0686\u0646\u062f\u0627\u0646 \u0645\u0646\u0627\u0633\u0628 \u0646\u06cc\u0633\u062a. \u0627\u0645\u0627 \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 \u0639\u0627\u0644\u06cc \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u0631\u0648\u0634\u060c \u0627\u0633\u062a\u0641\u0627\u062f \u0627\u0632 \u0648\u0642\u0641\u0647\u200c\u0647\u0627 \u0627\u0633\u062a. \u0628\u0647 \u0647\u0645\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628\u060c \u0628\u0647 \u0627\u062a\u0641\u0627\u0642 \u0647\u0645 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0648\u0642\u0641\u0647\u200c\u0647\u0627 \u0627\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644 \u0631\u0627 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u06a9\u0631\u062f\u06cc\u0645. \u062f\u0631 \u0622\u062e\u0631 \u0646\u06cc\u0632 \u0646\u062d\u0648\u0647 \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0633\u0631\u0648\u0648 \u0645\u0648\u062a\u0648\u0631 \u0628\u0627 \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0631\u0627 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u06cc\u06a9 \u067e\u0631\u0648\u0698\u0647 \u062c\u0627\u0644\u0628 \u0648 \u0627\u0644\u0628\u062a\u0647 \u06a9\u0627\u0631\u0628\u0631\u062f\u06cc \u0627\u0646\u062c\u0627\u0645 \u062f\u0627\u062f\u06cc\u0645.<\/p>\n\n\n\n<p>\u0647\u062f\u0641 \u0645\u0627 \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0627\u06cc\u0646 \u0648\u0628\u0644\u0627\u06af \u0628\u062a\u0648\u0627\u0646\u062f \u0645\u062d\u06cc\u0637\u06cc \u06a9\u0627\u0631\u0628\u0631\u062f\u06cc \u0648 \u0645\u0641\u06cc\u062f\u06cc \u0631\u0627 \u0628\u0631\u0627\u06cc \u0634\u0645\u0627 \u0639\u0632\u06cc\u0632\u0627\u0646 \u0641\u0631\u0627\u0647\u0645 \u06a9\u0646\u062f. \u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646 \u0627\u06af\u0631 \u0646\u0638\u0631\u060c \u067e\u06cc\u0634\u0646\u0647\u0627\u062f \u06cc\u0627 \u0633\u0648\u0627\u0644\u06cc \u062f\u0627\u0634\u062a\u06cc\u062f\u060c \u062d\u062a\u0645\u0627 \u0628\u0627 \u0645\u0627 \u062f\u0631 \u0645\u06cc\u0627\u0646 \u0628\u06af\u0630\u0627\u0631\u06cc\u062f.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u0647\u062f\u0641 \u0645\u0627 \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0634\u0645\u0627 \u0628\u0627 \u062e\u0648\u0627\u0646\u062f\u0646 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u062a\u0648\u0627\u0646\u06cc\u062f 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\u062a\u0628\u062f\u06cc\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0645\u0634\u062e\u0635 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0627\u06cc\u0646&#8230;<\/p>\n","protected":false},"author":2,"featured_media":16845,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[46],"tags":[],"class_list":["post-13169","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-46"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v19.2 (Yoast SEO v25.2) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u0622\u0645\u0648\u0632\u0634 \u0631\u0627\u0647 \u0627\u0646\u062f\u0627\u0632\u06cc \u0645\u0627\u0698\u0648\u0644 \u0631\u0648\u062a\u0627\u0631\u06cc \u0627\u0646\u06a9\u0648\u062f\u0631 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 - \u0648\u0628\u0644\u0627\u06af 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