Tomohiro Aoki
/
control_stick
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Revision 0:94484bb53158, committed 2019-07-27
- Comitter:
- Tomo1213
- Date:
- Sat Jul 27 09:34:10 2019 +0000
- Commit message:
- first commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Sat Jul 27 09:34:10 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Jul 27 09:34:10 2019 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#include "QEI.h"
+
+PwmOut MD_PWMB(PB_1);
+DigitalOut MD_BIN1(PA_10),MD_BIN2(PA_12);
+
+BusIn Encoder_PullUp(PA_8,PA_9);
+QEI Encoder(PA_9,PA_8,NC,12,QEI::X4_ENCODING);
+
+
+void motor(float speed){
+
+ float speed_f;
+ MD_PWMB.period_us(50);
+ speed_f = fabsf(speed);
+
+ if(speed < 0){
+ MD_PWMB = speed_f;
+ MD_BIN1 = 1;
+ MD_BIN2 = 0;
+ }
+ else if(0 < speed && speed <= 1){
+ MD_PWMB = speed_f;
+ MD_BIN1 = 0;
+ MD_BIN2 = 1;
+ }
+ else{
+ MD_PWMB = 1;
+ MD_BIN1 = 0;
+ MD_BIN2 = 0;
+ }
+
+}
+
+int main(){
+
+ Encoder_PullUp.mode(PullUp);
+
+ while(1){
+
+ printf("%d\r\n",Encoder.getPulses());
+
+ }
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Jul 27 09:34:10 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file