Zhixin Li / Mbed 2 deprecated Displaying_encoders_values

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Dependencies:   mbed

main.cpp@0:0bf74edfca0a, 2018-10-26 (annotated)

Committer:
Rhein
Date:
Fri Oct 26 09:48:39 2018 +0000
Revision:
0:0bf74edfca0a
Displaying encoders values with pc.printf function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Rhein 0:0bf74edfca0a 1 #include "mbed.h"
Rhein 0:0bf74edfca0a 2 #include "QEI.h"
Rhein 0:0bf74edfca0a 3 #include "MODSERIAL.h"
Rhein 0:0bf74edfca0a 4
Rhein 0:0bf74edfca0a 5
Rhein 0:0bf74edfca0a 6 DigitalOut motor2_direction(D7);
Rhein 0:0bf74edfca0a 7 PwmOut motor2_speed_control(D6);
Rhein 0:0bf74edfca0a 8 PwmOut motor1_speed_control(D5);
Rhein 0:0bf74edfca0a 9 DigitalOut motor1_direction(D4);
Rhein 0:0bf74edfca0a 10
Rhein 0:0bf74edfca0a 11 DigitalOut led3(LED_BLUE);
Rhein 0:0bf74edfca0a 12
Rhein 0:0bf74edfca0a 13 Serial pc(USBTX,USBRX);
Rhein 0:0bf74edfca0a 14
Rhein 0:0bf74edfca0a 15 QEI Encoder1(D12,D13,NC,32);
Rhein 0:0bf74edfca0a 16 QEI Encoder2(D10,D11,NC,32);
Rhein 0:0bf74edfca0a 17
Rhein 0:0bf74edfca0a 18
Rhein 0:0bf74edfca0a 19 int main()
Rhein 0:0bf74edfca0a 20 {
Rhein 0:0bf74edfca0a 21 pc.baud(115200);
Rhein 0:0bf74edfca0a 22
Rhein 0:0bf74edfca0a 23 double counts_m1 = 0;
Rhein 0:0bf74edfca0a 24 double counts_m2 = 0;
Rhein 0:0bf74edfca0a 25 double counts_m1_prev = 0;
Rhein 0:0bf74edfca0a 26 double counts_m2_prev = 0;
Rhein 0:0bf74edfca0a 27
Rhein 0:0bf74edfca0a 28 counts_m1 = Encoder1.getPulses() - counts_m1_prev;
Rhein 0:0bf74edfca0a 29 counts_m2 = Encoder1.getPulses() - counts_m2_prev;
Rhein 0:0bf74edfca0a 30 deg_m1 = deg_m1 + counts_m1*(360/(full_ratio));
Rhein 0:0bf74edfca0a 31 deg_m2 = deg_m2 + counts_m2*(360/(full_ratio));
Rhein 0:0bf74edfca0a 32 counts_m1_prev = Encoder1.getPulses();
Rhein 0:0bf74edfca0a 33 counts_m2_prev = Encoder2.getPulses();
Rhein 0:0bf74edfca0a 34
Rhein 0:0bf74edfca0a 35 while(true)
Rhein 0:0bf74edfca0a 36 {
Rhein 0:0bf74edfca0a 37 pc.printf("counts_m1 = %f, count_m2 = %f, deg_m1 = %f, deg_m2 = %f \r\n",counts_m1,counts_m2,deg_m1,deg_m2);
Rhein 0:0bf74edfca0a 38 if(deg_m1=90 && deg_m2=90)
Rhein 0:0bf74edfca0a 39 {
Rhein 0:0bf74edfca0a 40 led3=0;
Rhein 0:0bf74edfca0a 41 }
Rhein 0:0bf74edfca0a 42 }
Rhein 0:0bf74edfca0a 43 }