OITRP_2022 / Mbed OS encoder_motor

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Dependencies:   QEI

Files at this revision

API Documentation at this revision

Revision 1:f0e6a1eb94a8, committed 2022-04-27

Comitter:
okadaya
Date:
Wed Apr 27 03:39:55 2022 +0000
Parent:
0:ca2a77886231
Commit message:
encorder_moter

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r ca2a77886231 -r f0e6a1eb94a8 main.cpp
--- a/main.cpp	Wed Jun 23 08:34:39 2021 +0000
+++ b/main.cpp	Wed Apr 27 03:39:55 2022 +0000
@@ -8,8 +8,6 @@
 #include "QEI.h"
 Serial pc(USBTX, USBRX, 115200);
 Serial md(PC_10, PC_11, 38400);
-PwmOut motor1(PF_8);
-PwmOut motor2(PF_7);
 // Blinking rate in milliseconds
 #define BLINKING_RATE_MS                                                    500
 #define ROTATE_PER_REVOLUTIONS 64    //For QEI's pulse data
@@ -40,15 +38,15 @@
         pc.printf("%d",kai);
         pc.printf("Pulses: %07d", wheel.getPulses());
         pc.printf("Rotate: %d\n", (int)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4));
-        if((int)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)<100&&kai==0){
-            moter(64);
+        if((int)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)<10&&kai==0){
+            moter(48);
             pc.printf("a");
-            if((int)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)==99){
+            if((int)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)==9){
             kai=1;
             }
         }
         if((int)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)>0&&kai==1){
-            moter(-64);
+            moter(-48);
             pc.printf("b");
             if((int)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4)==1){
             kai=0;