Zhixin Li
/
Displaying_encoders_values
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Revision 0:0bf74edfca0a, committed 2018-10-26
- Comitter:
- Rhein
- Date:
- Fri Oct 26 09:48:39 2018 +0000
- Commit message:
- Displaying encoders values with pc.printf function
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 26 09:48:39 2018 +0000
@@ -0,0 +1,43 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+
+
+DigitalOut motor2_direction(D7);
+PwmOut motor2_speed_control(D6);
+PwmOut motor1_speed_control(D5);
+DigitalOut motor1_direction(D4);
+
+DigitalOut led3(LED_BLUE);
+
+Serial pc(USBTX,USBRX);
+
+QEI Encoder1(D12,D13,NC,32);
+QEI Encoder2(D10,D11,NC,32);
+
+
+int main()
+{
+ pc.baud(115200);
+
+ double counts_m1 = 0;
+ double counts_m2 = 0;
+ double counts_m1_prev = 0;
+ double counts_m2_prev = 0;
+
+ counts_m1 = Encoder1.getPulses() - counts_m1_prev;
+ counts_m2 = Encoder1.getPulses() - counts_m2_prev;
+ deg_m1 = deg_m1 + counts_m1*(360/(full_ratio));
+ deg_m2 = deg_m2 + counts_m2*(360/(full_ratio));
+ counts_m1_prev = Encoder1.getPulses();
+ counts_m2_prev = Encoder2.getPulses();
+
+ while(true)
+ {
+ pc.printf("counts_m1 = %f, count_m2 = %f, deg_m1 = %f, deg_m2 = %f \r\n",counts_m1,counts_m2,deg_m1,deg_m2);
+ if(deg_m1=90 && deg_m2=90)
+ {
+ led3=0;
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Oct 26 09:48:39 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file