Group 9 BioRobotics / Mbed 2 deprecated motor_encoder

Dependencies:   QEI mbed HIDScope

main.cpp

Committer:
kweisbeek
Date:
2018-10-14
Revision:
2:cb7d7e31e30e
Parent:
1:ccb2f96c393a
Child:
3:e533800b2ef8

File content as of revision 2:cb7d7e31e30e:

#include "mbed.h"
#include "QEI.h"

#define SERIAL_BAUD 115200

Serial pc(USBTX,USBRX);

DigitalOut dirpin(D4);
DigitalOut dirpin_2(D6);

PwmOut pwmpin(D5);
PwmOut pwmpin_2(D7);

AnalogIn pot_1(A1); //only using one potmeter for both motors, eventually just use a signal created by program or EMG-signals


QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);    //channel A=D12, channel B=D13

int main()
{
    //float out_1=1.0f;                         //set potmeter signal as a predetermined digital signal
    pc.baud(115200);                            //also set baudrate to 115200 in teraterm!
    pc.printf("start\r\n");
      
    pwmpin.period_us(60);                       //???
    
    while(1){
    float out_1 = (pot_1 * 2.0f) - 1.0f;        //scales potmeter signal from 0 to 1 into -1 to 1
    dirpin.write(out_1 < 0);                    //sets direction of motor? if negative =true (1), if positive =false (0)
    pwmpin = fabs (out_1);                      //sets speed of motor?
    pc.printf("%i\r\n", Encoder.getPulses());   //prints the amount of counts
    wait(0.1);                                  //repeat loop every 0.01 sec
    } 
}