Betago / Mbed 2 deprecated BETAGO

10/25/2015

Dependencies:   PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot

main.cpp@0:f02641e3fb91, 2015-10-16 (annotated)

Committer:
palmdotax
Date:
Fri Oct 16 08:05:52 2015 +0000
Revision:
0:f02641e3fb91
Child:
1:7c3dbf140bfc
V1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 0:f02641e3fb91 1 #include"mbed.h"
palmdotax 0:f02641e3fb91 2 #include "PID.h"
palmdotax 0:f02641e3fb91 3 InterruptIn encoderA(D6);
palmdotax 0:f02641e3fb91 4 InterruptIn encoderB(D5);
palmdotax 0:f02641e3fb91 5
palmdotax 0:f02641e3fb91 6 //DigitalIn encoderB(D5);
palmdotax 0:f02641e3fb91 7
palmdotax 0:f02641e3fb91 8
palmdotax 0:f02641e3fb91 9 Serial pc(SERIAL_TX,SERIAL_RX);
palmdotax 0:f02641e3fb91 10 int Encoderpos = 0;
palmdotax 0:f02641e3fb91 11 int valocity =0;
palmdotax 0:f02641e3fb91 12
palmdotax 0:f02641e3fb91 13 void EncoderA()
palmdotax 0:f02641e3fb91 14 { if(encoderB==0)
palmdotax 0:f02641e3fb91 15 { Encoderpos = Encoderpos + 1;}
palmdotax 0:f02641e3fb91 16 else
palmdotax 0:f02641e3fb91 17 { Encoderpos = Encoderpos -1;}
palmdotax 0:f02641e3fb91 18 // pc.printf("do");
palmdotax 0:f02641e3fb91 19 //Encoderpos = Encoderpos + 1;
palmdotax 0:f02641e3fb91 20 valocity+=1;
palmdotax 0:f02641e3fb91 21 pc.printf("%d \n",Encoderpos);
palmdotax 0:f02641e3fb91 22 }
palmdotax 0:f02641e3fb91 23
palmdotax 0:f02641e3fb91 24
palmdotax 0:f02641e3fb91 25 void EncoderB()
palmdotax 0:f02641e3fb91 26 {
palmdotax 0:f02641e3fb91 27 if(encoderA==1)
palmdotax 0:f02641e3fb91 28 { Encoderpos = Encoderpos + 1;}
palmdotax 0:f02641e3fb91 29 else
palmdotax 0:f02641e3fb91 30 { Encoderpos = Encoderpos -1;}
palmdotax 0:f02641e3fb91 31 pc.printf("%d",Encoderpos);
palmdotax 0:f02641e3fb91 32 }
palmdotax 0:f02641e3fb91 33
palmdotax 0:f02641e3fb91 34 int main()
palmdotax 0:f02641e3fb91 35 {
palmdotax 0:f02641e3fb91 36 pc.baud(115200);
palmdotax 0:f02641e3fb91 37 encoderA.rise(&EncoderA);
palmdotax 0:f02641e3fb91 38 pc.printf("Encode\n");
palmdotax 0:f02641e3fb91 39
palmdotax 0:f02641e3fb91 40
palmdotax 0:f02641e3fb91 41 while(1)
palmdotax 0:f02641e3fb91 42 {
palmdotax 0:f02641e3fb91 43 // pc.printf("Encode\n");
palmdotax 0:f02641e3fb91 44 //wait(1);
palmdotax 0:f02641e3fb91 45 // pc.printf("%d \n",Encoderpos);
palmdotax 0:f02641e3fb91 46
palmdotax 0:f02641e3fb91 47 }
palmdotax 0:f02641e3fb91 48 }