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The encoder DRS exercise
Dependencies: MODSERIAL QEI mbed
main.cpp@0:9aa5fb3f9174, 2015-09-23 (annotated)
- Committer:
- Technical_Muffin
- Date:
- Wed Sep 23 13:14:09 2015 +0000
- Revision:
- 0:9aa5fb3f9174
First commit of the encoder exercise
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Technical_Muffin | 0:9aa5fb3f9174 | 1 | #include "mbed.h" |
| Technical_Muffin | 0:9aa5fb3f9174 | 2 | #include "QEI.h" |
| Technical_Muffin | 0:9aa5fb3f9174 | 3 | #include "MODSERIAL.h" |
| Technical_Muffin | 0:9aa5fb3f9174 | 4 | |
| Technical_Muffin | 0:9aa5fb3f9174 | 5 | DigitalOut gpo(D0); |
| Technical_Muffin | 0:9aa5fb3f9174 | 6 | DigitalOut led(LED_RED); |
| Technical_Muffin | 0:9aa5fb3f9174 | 7 | |
| Technical_Muffin | 0:9aa5fb3f9174 | 8 | QEI motor1(D13,D12,NC, 624); |
| Technical_Muffin | 0:9aa5fb3f9174 | 9 | MODSERIAL pc(USBTX,USBRX); |
| Technical_Muffin | 0:9aa5fb3f9174 | 10 | |
| Technical_Muffin | 0:9aa5fb3f9174 | 11 | int main() |
| Technical_Muffin | 0:9aa5fb3f9174 | 12 | { |
| Technical_Muffin | 0:9aa5fb3f9174 | 13 | pc.baud(115200); |
| Technical_Muffin | 0:9aa5fb3f9174 | 14 | |
| Technical_Muffin | 0:9aa5fb3f9174 | 15 | while(1) { |
| Technical_Muffin | 0:9aa5fb3f9174 | 16 | wait(0.2); |
| Technical_Muffin | 0:9aa5fb3f9174 | 17 | pc.printf("the amount of pulses is: %d\r\n",motor1.getPulses()); |
| Technical_Muffin | 0:9aa5fb3f9174 | 18 | // the amount of counts for one revolution is 32 |
| Technical_Muffin | 0:9aa5fb3f9174 | 19 | //this is X2 encodng, as the QEI usus X2 by default |
| Technical_Muffin | 0:9aa5fb3f9174 | 20 | //and the motor encoder has a X4 encoder and thus 64 counts per revolution |
| Technical_Muffin | 0:9aa5fb3f9174 | 21 | // X unit counts equals one magnet shaft rotation, with X being 64 |
| Technical_Muffin | 0:9aa5fb3f9174 | 22 | //thus keeping in mind the gearbox the amount of counts for a gearbox revolution is 8400 |
| Technical_Muffin | 0:9aa5fb3f9174 | 23 | } |
| Technical_Muffin | 0:9aa5fb3f9174 | 24 | } |