NagaokaRoboticsClub_mbedTeam
2022Aのエンコーダを読んでとばす(サブ2基盤)
Dependencies: QEI SerialMultiByte mbed
Revision 0:c5e201f4e5d8, committed 2022-10-09
- Comitter:
- nagix
- Date:
- Sun Oct 09 09:02:22 2022 +0000
- Commit message:
- a
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Sun Oct 09 09:02:22 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/kikoaac/code/QEI/#a24686ca50ab
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SerialMultiByte.lib Sun Oct 09 09:02:22 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/SerialMultiByte/#a5d4fe088b23
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Oct 09 09:02:22 2022 +0000
@@ -0,0 +1,61 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "SerialMultiByte.h"
+
+QEI enc1(PB_6,PB_3,NC,100, QEI::X4_ENCODING);
+QEI enc2(PA_8,PA_9,NC,100, QEI::X4_ENCODING);
+QEI enc3(PB_6,PB_7,NC,100, QEI::X4_ENCODING);
+QEI enc4(PA_0,PA_1,NC,100, QEI::X4_ENCODING);
+
+
+Serial pc(USBTX,USBRX,115200);
+SerialMultiByte send(PC_12,PD_2);
+
+//int Revol1;
+//int Current;
+//double GetAngle;
+//int Angle_rev;
+//double SumAngle;
+
+Timer t;
+
+int main()
+{
+// stop = 1;
+// uint8_t test[4] = {1,2,3,4};
+ int16_t Angle[4] = {0};
+ uint8_t Pulse[8] = {0};
+ t.start();
+ send.setHeaders(0xff,0xff);
+
+ while(1)
+ {
+ Angle[0] = enc1.getPulses();
+ Angle[1] = enc2.getPulses();
+ Angle[2] = enc3.getPulses();
+ Angle[3] = enc4.getPulses();
+ for(int i=0, j=0;i<8;i+=2,j++){
+ Pulse[i] = Angle[j] >> 8;
+ Pulse[i+1] = Angle[j] & 255;
+ }
+// Pulse[0] = Angle[0] >> 8;
+// Pulse[1] = Angle[0] & 255;
+
+// Revol1 = enc1.getRevolutions();
+// Current = enc1.getCurrentState();
+// GetAngle = enc1.getAngle();
+// Angle_rev = enc1.getAng_rev();
+// SumAngle = enc1.getSumangle();
+
+
+// pc.printf("t:%.2f | ENC0:%d | REV0:%d | Cur:%d | GetAngle:%.2f | Angle_rev:%d | SumAngle:%.2f", t.read(),Angle1,Revol1,Current,GetAngle,Angle_rev,SumAngle);
+ pc.printf("t:%.2f | ENC1:%.2d | ENC2:%.2d | ENC3:%.2d | ENC4:%.2d |", t.read(),Angle[0],Angle[1],Angle[2],Angle[3]);
+ pc.printf("\r\n");
+ send.sendData(Pulse,8);
+
+// pc.printf("t:%.2f | test1:%.2d | test2:%.2d | test3:%.2d | test4:%.2d |", t.read(),test[0],test[1],test[2],test[3]);
+// pc.printf("\r\n");
+// send.sendData(test,4);
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Oct 09 09:02:22 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file