BackUpMotor.ino

//PINS
int outputPinAnalog = 11;
int interuptPin = 3;
//VALUES
unsigned long timp1, timp2;
float frecventa;
int motorValue = 125;//jumatate din viteza
void setup()
{	timp1 = millis();
	Serial.begin(115200);
	//motor
	writePwm(240);//max 255
	delay(3000);
	//encoder
	attachInterrupt(digitalPinToInterrupt(interuptPin), ISRFunction, RISING);
}

void loop()
{
	writePwm(motorValue);

}
void writePwm(int motorValue)
{
	analogWrite(outputPinAnalog, motorValue); 

}
void ISRFunction()
{	
	frecventa =1000000/(float)(micros() - timp2);		//Din cauza decentrarii avem variatie de 10 Hz
	timp2 = micros();
	Serial.println(frecventa);
}