Group 9 BioRobotics / Mbed 2 deprecated motor_encoder

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Dependencies:   QEI mbed HIDScope

Diff: main.cpp

Revision:
0:5d1481a32da2
Child:
1:ccb2f96c393a
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 12 08:26:51 2018 +0000
@@ -0,0 +1,48 @@
+#include "mbed.h"
+#include "QEI.h"
+
+#define SERIAL_BAUD 115200
+
+Serial pc(USBTX,USBRX);
+int counts;
+
+
+DigitalOut dirpin(D4);
+PwmOut pwmpin(D5);
+AnalogIn pot_1(A1);
+DigitalOut dirpin_2(D6);
+PwmOut pwmpin_2(D7);
+AnalogIn pot_2(A2);
+
+ QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
+
+int main()
+{
+    pc.printf("start\r\n");
+    pc.baud(115200);
+   
+    pwmpin.period_us(60);
+    counts = Encoder.getPulses();
+
+    while(true){
+    //motor 1
+    float out_1 = pot_1 * 2.0f;
+    float out_2 = out_1 - 1.0f;
+    
+    dirpin.write(out_2 < 0);
+    
+    pwmpin = fabs (out_2);
+    
+    // motor 2    
+    float out_3 = pot_2 * 2.0f;
+    float out_4 = out_3 - 1.0f;
+    
+    dirpin_2.write(out_4 < 0);
+    
+    pwmpin_2 = fabs (out_4);
+    
+    pc.printf("%i\r\n", counts);
+    
+    wait(0.01);   
+    } 
+}
\ No newline at end of file