main.cpp

00001 #include "mbed.h"
00002 #include "QEI.h"
00003 #define ROTATE_PER_REVOLUTIONS  48
00004 DigitalOut led1(LED1);
00005 DigitalOut led2(LED2);
00006 DigitalOut led3(LED3);
00007 DigitalOut led4(LED4);
00008 Ticker timer1;
00009 Ticker timer2;
00010 Serial pc(USBTX, USBRX); // tx, rx pc hyper terminal
00011 QEI wheel1(D1,D0,NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING);
00012 int buf,cfd,predata,pulse1,pulse2;
00013 
00014 void disp() {
00015  /*lcd.locate(0,0);
00016  lcd.printf("ec1:%03d ec2:%03d\n", pulse1,pulse2);
00017  lcd.locate(0,1);
00018  lcd.printf("cfd:%03d\n", cfd); */ 
00019  printf("encoder1: %02d\n\r", pulse1);
00020  printf("encoder2: %02d\n\r", pulse2);
00021  printf("cfd:%03d\n\r", cfd);
00022  led2=!led2; //check 
00023  }
00024 void encoder() {
00025     pulse1 =  wheel1.getPulses()/4;
00026     //pulse2 =  wheel2.getPulses()/4;
00027     led4=!led4; //check
00028 }
00029  int main()
00030  {
00031         timer1.attach_us(&disp, 50000);   //100ms
00032         timer2.attach_us(&encoder,10); //10ms
00033                 printf("Opt Feder X1");
00034     while(1)
00035     {
00036                  led3=!led3;//check
00037          if(pc.readable()) {          
00038             buf = pc.getc();
00039             if(buf == 127)
00040             { //to aboid freeze issue at 127 not fixed.
00041                 buf =pc.getc();
00042             }
00043             cfd = buf;
00044             if(buf != predata)
00045             {          
00046                 if(buf >= 3)
00047                 {
00048                 led1 = 1;
00049                 }
00050                 else{
00051                 led1 =0;
00052                 }
00053                 //cfd = buf;
00054                 predata = buf;
00055                          
00056             }//if(x1 != predata)
00057             
00058           }//if(device.readable())
00059     }
00060  }