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Experimental Zumy code for interfacing with encoders (as well as IMU as in abuchan's code base).
Dependencies: MPU6050IMU QEI RPCInterface mbed
Fork of zumy_mbed by
Diff: main.cpp
- Revision:
- 4:b8eeb59b62d4
- Parent:
- 3:8b5700499eb8
--- a/main.cpp Tue Oct 06 17:25:53 2015 +0000 +++ b/main.cpp Tue Nov 24 19:53:03 2015 +0000 @@ -1,10 +1,13 @@ #include "mbed.h" #include "SerialRPCInterface.h" #include "MPU6050.h" +#include "QEI.h" SerialRPCInterface SerialRPC(USBTX, USBRX, 115200); +//Serial pc(USBTX, USBRX); // tx, rx float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z; +int r_enc, l_enc; RPCVariable<float> rpc_accel_x(&accel_x, "accel_x"); RPCVariable<float> rpc_accel_y(&accel_y, "accel_y"); @@ -12,6 +15,10 @@ RPCVariable<float> rpc_gryo_x(&gyro_x, "gyro_x"); RPCVariable<float> rpc_gryo_y(&gyro_y, "gyro_y"); RPCVariable<float> rpc_gryo_z(&gyro_z, "gyro_z"); +RPCVariable<int> rpc_r_enc(&r_enc, "r_enc"); +RPCVariable<int> rpc_l_enc(&l_enc, "l_enc"); +QEI l_wheel (p29, p30, NC, 624); +QEI r_wheel (p11, p12, NC, 624); MPU6050 mpu6050; @@ -52,6 +59,11 @@ while(1) { wait_ms(10); + // Handle the encoders + r_enc=r_wheel.getPulses(); + l_enc=l_wheel.getPulses(); + //pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc); + if (!(--loop_count)) { loop_count = 10; main_loop = !main_loop;