Patrick Zieverink / Mbed 2 deprecated biorobotics_four_scorers_Patrick

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@3:e3d12393adb1, 2019-10-02 (annotated)

Committer:
joostbonekamp
Date:
Wed Oct 02 12:45:18 2019 +0000
Revision:
3:e3d12393adb1
Parent:
2:bbaa6fca2ab1
Child:
4:36e32ddf2443
snelheid uitlezen van encoder;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
RobertoO 1:b862262a9d14 2 #include "MODSERIAL.h"
joostbonekamp 2:bbaa6fca2ab1 3 #include "FastPWM.h"
joostbonekamp 2:bbaa6fca2ab1 4 #include "QEI.h"
RobertoO 0:67c50348f842 5
joostbonekamp 3:e3d12393adb1 6 MODSERIAL pc(USBTX, USBRX);
joostbonekamp 2:bbaa6fca2ab1 7 DigitalOut motor2_direction(D4);
joostbonekamp 2:bbaa6fca2ab1 8 PwmOut motor2_pwm(D5);
RobertoO 0:67c50348f842 9
joostbonekamp 3:e3d12393adb1 10 QEI encoder (D11, D12, NC, 8400, QEI::X4_ENCODING);
joostbonekamp 3:e3d12393adb1 11
joostbonekamp 3:e3d12393adb1 12 int enc_count;
joostbonekamp 3:e3d12393adb1 13 int prev_count = 0;
joostbonekamp 3:e3d12393adb1 14
joostbonekamp 2:bbaa6fca2ab1 15 int main() {
joostbonekamp 3:e3d12393adb1 16 pc.baud(115200);
joostbonekamp 3:e3d12393adb1 17 pc.printf("initializing\r\n");
joostbonekamp 3:e3d12393adb1 18
RobertoO 0:67c50348f842 19 while (true) {
joostbonekamp 3:e3d12393adb1 20 enc_count = encoder.getPulses();
joostbonekamp 3:e3d12393adb1 21 pc.printf("%f\r\n", float(enc_count-prev_count)*360/(8400*0.025));
joostbonekamp 3:e3d12393adb1 22 prev_count = enc_count;
joostbonekamp 3:e3d12393adb1 23 wait_ms(25);
RobertoO 0:67c50348f842 24 }
RobertoO 0:67c50348f842 25 }
joostbonekamp 2:bbaa6fca2ab1 26