let's control stick.

Dependencies:   mbed QEI

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Show/hide line numbers main.cpp Source File

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 }