Tomohiro Aoki / Mbed 2 deprecated control_stick

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Dependencies:   mbed QEI

main.cpp@0:94484bb53158, 2019-07-27 (annotated)

Committer:
Tomo1213
Date:
Sat Jul 27 09:34:10 2019 +0000
Revision:
0:94484bb53158
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tomo1213 0:94484bb53158 1 #include "mbed.h"
Tomo1213 0:94484bb53158 2 #include "QEI.h"
Tomo1213 0:94484bb53158 3
Tomo1213 0:94484bb53158 4 PwmOut MD_PWMB(PB_1);
Tomo1213 0:94484bb53158 5 DigitalOut MD_BIN1(PA_10),MD_BIN2(PA_12);
Tomo1213 0:94484bb53158 6
Tomo1213 0:94484bb53158 7 BusIn Encoder_PullUp(PA_8,PA_9);
Tomo1213 0:94484bb53158 8 QEI Encoder(PA_9,PA_8,NC,12,QEI::X4_ENCODING);
Tomo1213 0:94484bb53158 9
Tomo1213 0:94484bb53158 10
Tomo1213 0:94484bb53158 11 void motor(float speed){
Tomo1213 0:94484bb53158 12
Tomo1213 0:94484bb53158 13 float speed_f;
Tomo1213 0:94484bb53158 14 MD_PWMB.period_us(50);
Tomo1213 0:94484bb53158 15 speed_f = fabsf(speed);
Tomo1213 0:94484bb53158 16
Tomo1213 0:94484bb53158 17 if(speed < 0){
Tomo1213 0:94484bb53158 18 MD_PWMB = speed_f;
Tomo1213 0:94484bb53158 19 MD_BIN1 = 1;
Tomo1213 0:94484bb53158 20 MD_BIN2 = 0;
Tomo1213 0:94484bb53158 21 }
Tomo1213 0:94484bb53158 22 else if(0 < speed && speed <= 1){
Tomo1213 0:94484bb53158 23 MD_PWMB = speed_f;
Tomo1213 0:94484bb53158 24 MD_BIN1 = 0;
Tomo1213 0:94484bb53158 25 MD_BIN2 = 1;
Tomo1213 0:94484bb53158 26 }
Tomo1213 0:94484bb53158 27 else{
Tomo1213 0:94484bb53158 28 MD_PWMB = 1;
Tomo1213 0:94484bb53158 29 MD_BIN1 = 0;
Tomo1213 0:94484bb53158 30 MD_BIN2 = 0;
Tomo1213 0:94484bb53158 31 }
Tomo1213 0:94484bb53158 32
Tomo1213 0:94484bb53158 33 }
Tomo1213 0:94484bb53158 34
Tomo1213 0:94484bb53158 35 int main(){
Tomo1213 0:94484bb53158 36
Tomo1213 0:94484bb53158 37 Encoder_PullUp.mode(PullUp);
Tomo1213 0:94484bb53158 38
Tomo1213 0:94484bb53158 39 while(1){
Tomo1213 0:94484bb53158 40
Tomo1213 0:94484bb53158 41 printf("%d\r\n",Encoder.getPulses());
Tomo1213 0:94484bb53158 42
Tomo1213 0:94484bb53158 43 }
Tomo1213 0:94484bb53158 44
Tomo1213 0:94484bb53158 45 }