Patrick Zieverink / Mbed 2 deprecated biorobotics_four_scorers

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp

Committer:
joostbonekamp
Date:
2019-10-02
Revision:
4:36e32ddf2443
Parent:
3:e3d12393adb1
Child:
5:aa8b5d5e632f

File content as of revision 4:36e32ddf2443:

#include "mbed.h"
#include "MODSERIAL.h"
#include "FastPWM.h"
#include "QEI.h"

MODSERIAL pc(USBTX, USBRX);         //verbinden met pc
DigitalOut motor2_direction(D4);    //verbinden met motor 2 op board (altijd d4)

QEI encoder (D11, D12, NC, 8400, QEI::X4_ENCODING); //encoder gebruiken

int enc_count;
int prev_count = 0;

int main() {
    pc.baud(115200);
    pc.printf("initializing\r\n");
    
    while (true) {
        enc_count = encoder.getPulses(); //kijkt op welke stand hij nu staat
        pc.printf("%f\r\n", float(enc_count-prev_count)*360/(8400*0.025)); //verschil met vorige stap in graden per stap gedeeld door tijd = snelheid
        prev_count = enc_count;
        wait_ms(25);
    }
}