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Dependencies: HIDScope_motor_ff QEI mbed FastPWM MODSERIAL
Fork of
HID_scope_test
by 
Biorobotics_group_2
Diff: main.cpp
- Revision:
- 7:e7aa4f10d1fb
- Parent:
- 6:ed11342ab079
- Child:
- 8:fe907b9a0bab
diff -r ed11342ab079 -r e7aa4f10d1fb main.cpp
--- a/main.cpp Fri Oct 07 12:26:22 2016 +0000
+++ b/main.cpp Fri Oct 07 12:28:01 2016 +0000
@@ -5,26 +5,33 @@
Serial pc(USBTX,USBRX);
+// Variables counter
int countsCW = 0;
int countsCCW = 0;
int net_counts = 0;
+
+// Variables degrees, and speed
float degrees = 0.0;
-
volatile float curr_degrees = 0.0;
volatile float prev_degrees = 0.0;
volatile float speed = 0.0; // speed in degrees/s
volatile const float T_CalculateSpeed = 0.1; // 100 Hz
+// Set counts per revolution
const float counts_per_rev = 4200.0;
+
+// Set encoder
QEI EncoderCW(D12,D13,NC,32);
QEI EncoderCCW(D13,D12,NC,32);
+// Print the output
void PrintDegrees(){
pc.printf("\r\n Nett Pulses %i \r\n", net_counts);
pc.printf("\r\n Output degrees %f \r\n", degrees);
pc.printf("\r\n Speed %f \r\n",speed);
}
-
+
+// Calculate the speed
void CalculateSpeed() {
curr_degrees = degrees;
speed = (curr_degrees-prev_degrees)/T_CalculateSpeed;