TomiRobo
エンコーダ用プログラム
Diff: main.cpp
- Revision:
- 0:e543236c8336
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Sep 14 15:36:20 2016 +0000
@@ -0,0 +1,17 @@
+#include "QEI.h"
+
+Serial pc(USBTX, USBRX);
+
+#define ROTATE_PER_REVOLUTIONS 500
+//Use X4 encoding.
+QEI wheel(dp17, dp18, dp26, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING);
+//Use X2 encoding by default.
+//QEI wheel (p30, p29, NC, 624);
+
+int main() {
+ while(1){
+ wait(0.1);
+ //pc.printf("Pulses: %07d\n", wheel.getPulses());
+ pc.printf("Rotate: %04.3f\r\n", (double)wheel.getPulses()/(ROTATE_PER_REVOLUTIONS*4));
+ }
+}
\ No newline at end of file