Diff: main.cpp

Revision:

0:6a83d8fc84cf

Child:

1:f318636315dc

diff -r 000000000000 -r 6a83d8fc84cf main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 09 13:32:49 2019 +0000
@@ -0,0 +1,46 @@
+#include "mbed.h"
+#include "pinlist.h"
+#include "robotpin.h" 
+#include "encoder_krai/encoderKRAI.h"
+#include "motor/Motor.h"
+Serial pc(USBTX, USBRX, 115200);
+
+float   pulseA = 0,
+        pulseB = 0,
+        pulseC = 0,
+        pulseD = 0;
+encoderKRAI enc_A      (PIN_A_CHA, PIN_A_CHB, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI enc_B      (PIN_B_CHA, PIN_B_CHB, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI enc_C      (PIN_C_CHA, PIN_C_CHB, 538, encoderKRAI::X4_ENCODING);
+encoderKRAI enc_D      (PIN_D_CHA, PIN_D_CHB, 538, encoderKRAI::X4_ENCODING);
+
+Motor motor_A           (PIN_PWM_A, PIN_FWD_A, PIN_REV_A);
+Motor motor_B           (PIN_PWM_B, PIN_FWD_B, PIN_REV_B);
+Motor motor_C           (PIN_PWM_C, PIN_FWD_C, PIN_REV_C);
+Motor motor_D           (PIN_PWM_D, PIN_FWD_D, PIN_REV_D);
+    
+int main() {
+    while(1){
+        motor_A.speed(0.5);
+        motor_B.speed(0.5);
+        motor_C.speed(0.5);
+        motor_D.speed(0.5);
+        
+        pulseA += (float)enc_A.getPulses()*360/538;
+        pulseB += (float)enc_B.getPulses()*360/538;
+        pulseC += (float)enc_C.getPulses()*360/538;
+        pulseD += (float)enc_D.getPulses()*360/538;
+        
+        enc_A.reset();
+        enc_B.reset();
+        enc_C.reset();
+        enc_D.reset();
+
+        pc.printf("Pulse A : %f ", pulseA);
+        pc.printf("Pulse B : %f ", pulseB);
+        pc.printf("Pulse C : %f ", pulseC);
+        pc.printf("Pulse D : %f \n", pulseD);
+
+    }
+    return 0;    
+}