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Read rotary encoder from Arduino Uno in Simulink

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I can easily read the counts in Matlab (like this:, but not in Sumulink! Can someone tell me how it is the correct way to read the counts in real-time in Simulink?

Accepted Answer

Pranav Murali
Pranav Murali on 23 Mar 2020
I understand that you are trying to read the counts from a rotary encoder using Simulink. Although Simulink doesn't have a block to interface a rotary encoder at present, it can possibly be achieved in two ways:
  1. Write your code on MATLAB and import the function as a Simulink block. See how that is done here.
  2. Attach External Interrupt block to pins 2 and 3 to call an Interrupt Service Routine (ISR) function. The ISR will then perform bitwise comparison of the two inputs to increment/decrement the counts.
The idea behind the second approach is to implement the rotaryEncoder function through existing Simulink blocks.
Azlin Afiqah
Azlin Afiqah on 9 Aug 2021
@Phan Du Thank you so much. I really really appreciate that. Thank you so much <3
Ghani Lawal
Ghani Lawal on 18 Feb 2022
If one doesn't care about the direction of the motor, can one just attach the External Interrupt to call the ISR when the signal at PIN 2 goes from LOW o HIGH?

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More Answers (3)

Hasan Falah
Hasan Falah on 30 Jun 2020
Hello friends,
I’m using arduino Due to read incremental rotary encoder by simulink, there is no block in sinulink to do that.
I tried with external interrupt example in matlab 2020a but it is reading only in one direction and just increasing, so it should be readings in clockwise and counterclockwise.
Aslo I tried with encoder S-Function in Device Driver examples but also does not work.
Your help please .....
Harshil Jani
Harshil Jani on 29 Mar 2021
Hi Yago menezes, If you are able to use it using simulink please send me to
Anass Dkheila
Anass Dkheila on 21 Sep 2021
Hello Hasan did you solve this problem? if you did can you send it to me at

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Daniel Velazquez
Daniel Velazquez on 5 Jul 2021
Hi, thanks for the encoder part.
Attached is a preliminary implementation of a PID Speed Controller for a DC motor with encoder.
The circuit is a low side FET to the pin 5 of the ATMEGA (PWM output) and pins 2 and 3 go to the encoders as input.
The PID parameters and scopes are tuneable.
Daniel Velazquez
  1 Comment
Azlin Afiqah
Azlin Afiqah on 4 Aug 2021
Hi, can you give me the block diagram in version R2014a. Thank you. I'm helpless doing this project. I really really appreciate your support. Thank you again

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Daniel Velazquez
Daniel Velazquez on 6 Aug 2021
Hello Azlin, unfortunately I do not have R2014a but you can easily redraw it in your version from the image attached of the Simulink diagram.
Have fun
mechali omar
mechali omar on 21 Oct 2021
Edited: mechali omar on 21 Oct 2021
Hola, Hello Daniel Velazquez
Thank you for providing these useful files.
May I kindly ask you to provide a small clirification about some blocs in the encoder function.
1- for the gain 60/485. Why we exactly need to choose these values. Are thery related to the encoder type, or they remain valid for any other encoder.
2- for the bloc with gain of 0.1. What is the role of this bloc with exactly 0.1 gain.
3- How to change the sampling time of the S-Function block "Ts".It remains always 0.1 even we have changed it in the workspace.
Omer Faruk
Omer Faruk on 19 May 2022
Daniel could you explain how we obtain response curve?

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