Group 9 BioRobotics / Mbed 2 deprecated motor_encoder

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Dependencies:   QEI mbed HIDScope

main.cpp@2:cb7d7e31e30e, 2018-10-14 (annotated)

Committer:
kweisbeek
Date:
Sun Oct 14 10:59:42 2018 +0000
Revision:
2:cb7d7e31e30e
Parent:
1:ccb2f96c393a
Child:
3:e533800b2ef8
basis motor encoder counter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1725696 0:5d1481a32da2 1 #include "mbed.h"
s1725696 0:5d1481a32da2 2 #include "QEI.h"
s1725696 0:5d1481a32da2 3
s1725696 0:5d1481a32da2 4 #define SERIAL_BAUD 115200
s1725696 0:5d1481a32da2 5
s1725696 0:5d1481a32da2 6 Serial pc(USBTX,USBRX);
s1725696 0:5d1481a32da2 7
s1725696 0:5d1481a32da2 8 DigitalOut dirpin(D4);
kweisbeek 2:cb7d7e31e30e 9 DigitalOut dirpin_2(D6);
kweisbeek 2:cb7d7e31e30e 10
s1725696 0:5d1481a32da2 11 PwmOut pwmpin(D5);
s1725696 0:5d1481a32da2 12 PwmOut pwmpin_2(D7);
kweisbeek 2:cb7d7e31e30e 13
kweisbeek 2:cb7d7e31e30e 14 AnalogIn pot_1(A1); //only using one potmeter for both motors, eventually just use a signal created by program or EMG-signals
s1725696 0:5d1481a32da2 15
kweisbeek 2:cb7d7e31e30e 16
kweisbeek 2:cb7d7e31e30e 17 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING); //channel A=D12, channel B=D13
s1725696 0:5d1481a32da2 18
s1725696 0:5d1481a32da2 19 int main()
s1725696 0:5d1481a32da2 20 {
kweisbeek 2:cb7d7e31e30e 21 //float out_1=1.0f; //set potmeter signal as a predetermined digital signal
kweisbeek 2:cb7d7e31e30e 22 pc.baud(115200); //also set baudrate to 115200 in teraterm!
s1725696 0:5d1481a32da2 23 pc.printf("start\r\n");
kweisbeek 2:cb7d7e31e30e 24
kweisbeek 2:cb7d7e31e30e 25 pwmpin.period_us(60); //???
s1725696 0:5d1481a32da2 26
kweisbeek 2:cb7d7e31e30e 27 while(1){
kweisbeek 2:cb7d7e31e30e 28 float out_1 = (pot_1 * 2.0f) - 1.0f; //scales potmeter signal from 0 to 1 into -1 to 1
kweisbeek 2:cb7d7e31e30e 29 dirpin.write(out_1 < 0); //sets direction of motor? if negative =true (1), if positive =false (0)
kweisbeek 2:cb7d7e31e30e 30 pwmpin = fabs (out_1); //sets speed of motor?
kweisbeek 2:cb7d7e31e30e 31 pc.printf("%i\r\n", Encoder.getPulses()); //prints the amount of counts
kweisbeek 2:cb7d7e31e30e 32 wait(0.1); //repeat loop every 0.01 sec
s1725696 0:5d1481a32da2 33 }
s1725696 0:5d1481a32da2 34 }