let's control stick.
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main.cpp
00001 #include "mbed.h" 00002 #include "QEI.h" 00003 00004 PwmOut MD_PWMB(PB_1); 00005 DigitalOut MD_BIN1(PA_10),MD_BIN2(PA_12); 00006 00007 BusIn Encoder_PullUp(PA_8,PA_9); 00008 QEI Encoder(PA_9,PA_8,NC,12,QEI::X4_ENCODING); 00009 00010 00011 void motor(float speed){ 00012 00013 float speed_f; 00014 MD_PWMB.period_us(50); 00015 speed_f = fabsf(speed); 00016 00017 if(speed < 0){ 00018 MD_PWMB = speed_f; 00019 MD_BIN1 = 1; 00020 MD_BIN2 = 0; 00021 } 00022 else if(0 < speed && speed <= 1){ 00023 MD_PWMB = speed_f; 00024 MD_BIN1 = 0; 00025 MD_BIN2 = 1; 00026 } 00027 else{ 00028 MD_PWMB = 1; 00029 MD_BIN1 = 0; 00030 MD_BIN2 = 0; 00031 } 00032 00033 } 00034 00035 int main(){ 00036 00037 Encoder_PullUp.mode(PullUp); 00038 00039 while(1){ 00040 00041 printf("%d\r\n",Encoder.getPulses()); 00042 00043 } 00044 00045 }
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