Group 9 BioRobotics / Mbed 2 deprecated motor_encoder

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Dependencies:   QEI mbed HIDScope

main.cpp@1:ccb2f96c393a, 2018-10-12 (annotated)

Committer:
kweisbeek
Date:
Fri Oct 12 08:31:16 2018 +0000
Revision:
1:ccb2f96c393a
Parent:
0:5d1481a32da2
Child:
2:cb7d7e31e30e
hi

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 int counts;
s1725696 0:5d1481a32da2 8
kweisbeek 1:ccb2f96c393a 9 //Kenneth was here
s1725696 0:5d1481a32da2 10 DigitalOut dirpin(D4);
s1725696 0:5d1481a32da2 11 PwmOut pwmpin(D5);
s1725696 0:5d1481a32da2 12 AnalogIn pot_1(A1);
s1725696 0:5d1481a32da2 13 DigitalOut dirpin_2(D6);
s1725696 0:5d1481a32da2 14 PwmOut pwmpin_2(D7);
s1725696 0:5d1481a32da2 15 AnalogIn pot_2(A2);
s1725696 0:5d1481a32da2 16
s1725696 0:5d1481a32da2 17 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
s1725696 0:5d1481a32da2 18
s1725696 0:5d1481a32da2 19 int main()
s1725696 0:5d1481a32da2 20 {
s1725696 0:5d1481a32da2 21 pc.printf("start\r\n");
s1725696 0:5d1481a32da2 22 pc.baud(115200);
s1725696 0:5d1481a32da2 23
s1725696 0:5d1481a32da2 24 pwmpin.period_us(60);
s1725696 0:5d1481a32da2 25 counts = Encoder.getPulses();
s1725696 0:5d1481a32da2 26
s1725696 0:5d1481a32da2 27 while(true){
s1725696 0:5d1481a32da2 28 //motor 1
s1725696 0:5d1481a32da2 29 float out_1 = pot_1 * 2.0f;
s1725696 0:5d1481a32da2 30 float out_2 = out_1 - 1.0f;
s1725696 0:5d1481a32da2 31
s1725696 0:5d1481a32da2 32 dirpin.write(out_2 < 0);
s1725696 0:5d1481a32da2 33
s1725696 0:5d1481a32da2 34 pwmpin = fabs (out_2);
s1725696 0:5d1481a32da2 35
s1725696 0:5d1481a32da2 36 // motor 2
s1725696 0:5d1481a32da2 37 float out_3 = pot_2 * 2.0f;
s1725696 0:5d1481a32da2 38 float out_4 = out_3 - 1.0f;
s1725696 0:5d1481a32da2 39
s1725696 0:5d1481a32da2 40 dirpin_2.write(out_4 < 0);
s1725696 0:5d1481a32da2 41
s1725696 0:5d1481a32da2 42 pwmpin_2 = fabs (out_4);
s1725696 0:5d1481a32da2 43
s1725696 0:5d1481a32da2 44 pc.printf("%i\r\n", counts);
s1725696 0:5d1481a32da2 45
s1725696 0:5d1481a32da2 46 wait(0.01);
s1725696 0:5d1481a32da2 47 }
s1725696 0:5d1481a32da2 48 }