三浦 颯太 / Mbed 2 deprecated AutoMaster2019_B_2

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Dependencies:   mbed TrapezoidControl QEI Pulse LM61CIZ

Diff: Input/Encoder/Encoder.cpp

Revision:
22:7d93f79a3686
Parent:
16:3f2c2d89372b
diff -r e3b58d675c1c -r 7d93f79a3686 Input/Encoder/Encoder.cpp
--- a/Input/Encoder/Encoder.cpp	Mon Sep 09 00:19:28 2019 +0000
+++ b/Input/Encoder/Encoder.cpp	Tue Sep 17 04:40:17 2019 +0000
@@ -1,30 +1,20 @@
 #include "Encoder.h"
 #include "mbed.h"
 
-#include "../../System/Process/InterruptProcess.h"
-
-InterruptIn BoardECD[] = {
-    InterruptIn(ECD_A_0),
-    InterruptIn(ECD_A_1),
-    InterruptIn(ECD_A_2),
-    InterruptIn(ECD_A_3),
+const int PerRev = 256;
     
-    InterruptIn(ECD_B_0),
-    InterruptIn(ECD_B_1),
-    InterruptIn(ECD_B_2),
-    InterruptIn(ECD_B_3),
-};
+    QEI encoder[] = {
+        QEI(ECD_A_0,ECD_B_0,NC,PerRev,QEI::X4_ENCODING),
+        QEI(ECD_A_1,ECD_B_1,NC,PerRev,QEI::X4_ENCODING),
+        QEI(ECD_A_2,ECD_B_2,NC,PerRev,QEI::X4_ENCODING),
+        QEI(ECD_A_3,ECD_B_3,NC,PerRev,QEI::X4_ENCODING),
+    };
 
 namespace ENCODER {
+    
+    
+    
     void ECD::Initialize() {
-        BoardECD[0].mode(PullUp);
-        BoardECD[1].mode(PullUp);
-        BoardECD[2].mode(PullUp);
-        BoardECD[3].mode(PullUp);
-
-        BoardECD[0].fall(int2);
-        BoardECD[1].fall(int3);
-        BoardECD[2].fall(int4);
-        BoardECD[3].fall(int5);
+        
     }
 }
\ No newline at end of file