File content as of revision 3:4249dbdf7ed3:

#include "mbed.h"
#include "QEI.h"

void Initialisation (void); //These voids are written after the main. They must be listed here too (functional prototypes).
void StepCW(void);
void Ph1(void);
void Ph12 (void);
void Ph2(void);
void Ph23 (void);
void Ph3(void);
void Ph34 (void);
void Ph4(void);
void Ph41 (void);

Serial pc(USBTX, USBRX); // tx, rx - set up the Terraterm input from mbed

QEI wheel(p5, p6, p8, 800, QEI::X4_ENCODING);         //code for quadrature encoder see QEI.h

Timer t;

DigitalOut      Phase1                 (p21);         //Pin and LED set up                   
DigitalOut      Phase2                 (p22);
DigitalOut      Phase3                 (p23);
DigitalOut      Phase4                 (p24);

DigitalIn       Button1                 (p11);

DigitalOut      led1(LED1);
DigitalOut      led2(LED2);
DigitalOut      led3(LED3);
DigitalOut      led4(LED4);

int StateA = 0;
int StateB  = 0;
int TimePerClick = 0;  
int TimePerRev = 0;
int RPS = 0;
int RPM = 0;

float x=0.05, y=0.02, z=1;   //x=time of square wave when 1 phase energised, y=time of square wave when 2 phases energised

int main(void) 
{   
    pc.baud(230400);        //Set fastest baud rate
    StepCW();
    Initialisation();
    wait(0.1);
    t.start();
    
while(wheel.getRevolutions()==0)
    {    
    switch(StateA)
        {
        case 0:Ph1();pc.printf("Ph1= %i\n\r", wheel.getPulses());break; 
        case 1:Ph12();pc.printf("Ph12= %i\n\r", wheel.getPulses());break; 
        case 2:Ph2();pc.printf("Ph2= %i\n\r", wheel.getPulses());break; 
        case 3:Ph23();pc.printf("Ph23= %i\n\r", wheel.getPulses());break; 
        case 4:Ph3();pc.printf("Ph3= %i\n\r", wheel.getPulses());break; 
        case 5:Ph34();pc.printf("Ph34= %i\n\r", wheel.getPulses());break; 
        case 6:Ph4();pc.printf("Ph4= %i\n\r", wheel.getPulses());break;         
        case 7:Ph41();pc.printf("Ph41= %i\n\r", wheel.getPulses());break;   
        default:break; 
        } 
        
        if(wheel.getYay()==1)
        {
        StateA++;
        wheel.ResetYay();
        if (StateA>7)
            {
            StateA=0;
            }
        } 
    }        
        
 while(1)
 {       
        while(wheel.getRevolutions()>0 && wheel.getPulses()>0)
        {
        StateB = (wheel.getPulses())%16;
        //pc.printf("StateA= %i\n\r", StateA);
        pc.printf("1 StateB= %i, Pulses= %i, Revs= %i\r", StateB,wheel.getPulses(),wheel.getRevolutions());
        //pc.printf("",);
       // pc.printf("",);
            
            switch(StateB)
            {
            case 0:Ph3();break;
            case 1:Ph3();break;
            case 2:Ph34();break;
            case 3:Ph34();break;
            case 4:Ph4();break;
            case 5:Ph4();break;
            case 6:Ph41();break;
            case 7:Ph41();break;
            case 8:Ph1();break;
            case 9:Ph1();break;
            case 10:Ph12();break;
            case 11:Ph12();break;
            case 12:Ph2();break;
            case 13:Ph2();break;
            case 14:Ph23();break;
            case 15:Ph23();break;
            default:break; 
            } 
        
        if(wheel.getYay()==1)
            {
            wheel.ResetYay();
            TimePerClick = (t.read_us());  
            t.reset();
            TimePerRev = TimePerClick * 400;
            TimePerRev = TimePerRev / 1000;
            RPS = 10000000 / TimePerRev;
            RPM = (RPS * 60)/10000;
            //pc.printf("RPM = %d\n\r", RPM);
            }    
        }
    
    
    while(wheel.getRevolutions()>0 && wheel.getPulses()<1)
        {
        StateB = (800+wheel.getPulses())%16;
        //pc.printf("StateA= %i\n\r", StateA);
        pc.printf("2 StateB= %i, Pulses= %i, Revs= %i\r", StateB,wheel.getPulses(),wheel.getRevolutions());
        //pc.printf("",);
       // pc.printf("",);
            
            switch(StateB)
            {
            case 0:Ph3();break;
            case 1:Ph3();break;
            case 2:Ph34();break;
            case 3:Ph34();break;
            case 4:Ph4();break;
            case 5:Ph4();break;
            case 6:Ph41();break;
            case 7:Ph41();break;
            case 8:Ph1();break;
            case 9:Ph1();break;
            case 10:Ph12();break;
            case 11:Ph12();break;
            case 12:Ph2();break;
            case 13:Ph2();break;
            case 14:Ph23();break;
            case 15:Ph23();break;
            default:break; 
            } 
        
        if(wheel.getYay()==1)
            {
            wheel.ResetYay();
            TimePerClick = (t.read_us());  
            t.reset();
            TimePerRev = TimePerClick * 400;
            TimePerRev = TimePerRev / 1000;
            RPS = 10000000 / TimePerRev;
            RPM = (RPS * 60)/10000;
            //pc.printf("RPM = %d\n\r", RPM);
              }    
        }
    
    }
}

void StepCW(void)                           //Square wave switching
{
        Ph1();
        wait(x);
        Ph12(); 
        wait(y);
        Ph2();
        wait(x);
        Ph23();
        wait(y);
        Ph3();
        wait(x);
        Ph34();
        wait(y);
        Ph4();
        wait(x);
        Ph41();
        wait(y);        
}

void Ph1(void)
{
        Phase1 = 1;                         
        Phase2 = Phase3 = Phase4 = 0;
        //wait(x);
        //pc.printf("Phase 1 = %i\n\r", wheel.getPulses());   
}

void Ph12 (void)
{
        Phase1 = Phase2 = 1;
        Phase3 = Phase4 = 0;
        //wait(y);
}

void Ph2(void)
{
        Phase2 = 1;
        Phase1 = Phase3 = Phase4 = 0;
        //wait(x);
        //pc.printf("Phase 2 = %i\n\r", wheel.getPulses());
}

void Ph23 (void)
{
        Phase2 = Phase3 = 1;
        Phase4 = Phase1 = 0;
        //wait(y);
}

void Ph3(void)
{
        Phase3 = 1;
        Phase1 = Phase2 = Phase4 = 0;
        //wait(x);
        //pc.printf("Phase 3 = %i\n\r", wheel.getPulses());
}
void Ph34 (void)
{
        Phase3 = Phase4 = 1;
        Phase1 = Phase2 = 0;
        //wait(y);
}

void Ph4(void)
{
        Phase4 = 1;
        Phase1 = Phase2 = Phase3 = 0;
        //wait(x);
        //pc.printf("Phase 4 = %i\n\r", wheel.getPulses());
}

void Ph41 (void)
{
        Phase4 = Phase1 = 1;
        Phase2 = Phase3 = 0;
        //wait(y);
}

void Initialisation (void)
{
    Phase1 = 0;                              
    Phase2 = 0;                 
    Phase3 = 0;                   
    Phase4 = 0;  
    led1 = 0;
    led2 = 0;
    led3 = 0;
    led4 = 0;
    wheel.ResetYay();
    

}