Diff: Motor_tryout.cpp

Revision:

23:18b0be02187f

Parent:

22:9f911405e096

Child:

24:61d03692f92e

--- a/Motor_tryout.cpp	Fri Oct 25 11:44:33 2019 +0000
+++ b/Motor_tryout.cpp	Fri Oct 25 12:13:44 2019 +0000
@@ -1,7 +1,5 @@
 #include "mbed.h" 
 #include "MODSERIAL.h"
-#include "QEI1.h"
-#include "QEI2.h"
 #include "QEI.h"
 #include "Math.h"
 #include "ttmath.h"
@@ -15,9 +13,9 @@
 PwmOut motor3_pwm(PTC4);
 DigitalOut motor3_dir(PTC12);
 
-QEI1 Encoder1(D12,D13,NC,64,QEI1::X4_ENCODING);
-QEI2 Encoder2(D10,D11,NC,64,QEI2::X4_ENCODING);
-QEI  Encoder(D2,D3,NC,64,QEI::X4_ENCODING);
+QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
+QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
+QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING);
 
 int check;
 int quit;
@@ -62,6 +60,13 @@
 float oldtheta2=0;
 float oldtheta3=0;
 
+Ticker pulses;
+void getpulses()   {
+        counts1 = Encoder1.getPulses();
+        counts2 = Encoder2.getPulses();
+        counts3 = Encoder3.getPulses();
+        }
+        
 float delta_calcangleyz(float x00, float y00, float z00)   {
     float y2 = y00 + le;
     float y1 = f;
@@ -108,12 +113,7 @@
     return theta1, theta2, theta3;
 }
             
-//Ticker pulse;
-void pulseget()     {
-    counts1 = Encoder1.getPulses();
-    counts2 = Encoder2.getPulses();
-    counts3 = Encoder.getPulses();
-    }
+            
 
 float anglestep(float angle)    {
     float steps;
@@ -173,30 +173,25 @@
     check3 = true; 
                 
     while (check1 || check2 || check3)    {
-        counts1 = Encoder1.getPulses();
-        counts2 = Encoder2.getPulses();
-        counts3 = Encoder.getPulses();
-        
-        wait(1.0/500);
- 
+     pulses.attach(&getpulses, 1.0/1000);
+    pc.printf("\n\r counts1 %i", counts1);
+         wait(1/500);
         if(abs(counts1)>=abs(steps1)) {
+            pc.printf("\n\r counts1 %i and steps1 %f", counts1, steps1);
             motor1_pwm.write(0);
             check1=false;
             counts1=0;
-            wait(1.0/100);
             }
         if (abs(counts2)>=abs(steps2))   {
             motor2_pwm.write(0);
             check2=false;
             counts2=0;
-            wait(1.0/100);
             }
         if (abs(counts3)>=abs(steps3))  {
             motor3_pwm.write(0);
             check3=false;
             //pc.printf("\n\rsteps %f, counts %f", steps3, counts3);
             counts3=0;
-            wait(1.0/100);
             }
     }
 }
@@ -207,9 +202,6 @@
     char cc = pc.getc();
 
     while(true)     {
-    counts1 = 0;
-    counts2 = 0;
-    counts3 = 0;      
 
     delta_calcinverse(x0,y0,z0);