Group 9 BioRobotics / Mbed 2 deprecated motor_encoder

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Dependencies:   QEI mbed HIDScope

main.cpp

Committer:
kweisbeek
Date:
2018-10-12
Revision:
1:ccb2f96c393a
Parent:
0:5d1481a32da2
Child:
2:cb7d7e31e30e

File content as of revision 1:ccb2f96c393a:

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

#define SERIAL_BAUD 115200

Serial pc(USBTX,USBRX);
int counts;

//Kenneth was here
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);   
    } 
}