Revision 1:4088422c9f8a, committed 2018-07-29

Comitter:

k_waihlyan

Date:

Sun Jul 29 08:54:36 2018 +0000

Parent:

0:5da774f9c59c

Commit message:

update_29july

Changed in this revision

--- a/main.cpp	Fri Jul 20 11:16:46 2018 +0000
+++ b/main.cpp	Sun Jul 29 08:54:36 2018 +0000
@@ -2,15 +2,21 @@
 #include "mbed.h"
 Serial pc(USBTX, USBRX);
 
-long     counts_per_rev = (1440);
+AnalogOut pwm    (p18);
+DigitalOut pin_a  (p19);
+DigitalOut pin_b  (p20);
+DigitalIn IRpin(p16);
+DigitalIn IRpin2(p17);
+int ir,ir2;
+long     counts_per_rev = (64);
 double   prv_ang        = 0.0;
-double   now_ang        = 0.0;
+double   now_ang;
 double   now_omg        = 0.0;
 double   prv_time       = 0.0;
 double   now_time       = 0.0;
 double   samp_time      = 0.0;
-double   now_x          = 0.0;
-double   now_y          = 0.0;
+//double   now_x          = 0.0;
+//double   now_y          = 0.0;
 
 QEI wheel (p29, p30, NC, counts_per_rev, QEI::X4_ENCODING);
 
@@ -24,13 +30,33 @@
     Timer myTime;
     myTime.reset();
     myTime.start();
+    pc.baud(57600);
     while(1) {
+        ir        = IRpin.read();
+        ir2       = IRpin2.read();
         now_time  = myTime.read_ms()/1000.0;
         samp_time = now_time - prv_time;
         now_ang   = pulsesToDegrees(wheel.getPulses());
         now_omg   = (now_ang - prv_ang)/samp_time;
-
-        pc.printf("   %F %F \r", now_time, now_ang);
+        if(ir == 0 && ir2 == 1)
+        {
+        pwm   = 0.8 ; 
+        pin_a = 1;
+        pin_b = 0;
+        }
+        else if(ir == 1 && ir2 == 0)
+        {
+         pwm   = 0.8 ; 
+        pin_a = 0;
+        pin_b = 1;
+        }
+        else
+        {
+        pwm   = 0.8 ; 
+        pin_a = 0;
+        pin_b = 0;
+        }       
+        pc.printf("%d   %d  %f\r",ir,ir2,now_omg);
         printf("\n\r");
         prv_ang  = now_ang;
         prv_time = now_time;