Diff: main.cpp

Revision:

0:e2d42e66534c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Aug 22 13:41:41 2018 +0000
@@ -0,0 +1,102 @@
+#include "mbed.h"
+#include"QEI.h"
+#include"I2CSlave.h"
+
+#define ROTATE_PER_REVOLUTIONS  2048 //エンコーダ分解能
+
+// エンコーダ読み取りピン
+#define CHANNNEL1_A D2
+#define CHANNNEL1_B D3
+
+#define CHANNNEL2_A D7
+#define CHANNNEL2_B D6
+
+#define CHANNNEL3_A D8
+#define CHANNNEL3_B D9
+
+#define CHANNNEL4_A D10
+#define CHANNNEL4_B D11
+
+//i2c
+#define SDA D4
+#define SCL D5
+
+#define ADDR 0x02 //i2cアドレス
+
+//inputにセット
+DigitalIn Ch1A(CHANNNEL1_A),Ch1B(CHANNNEL1_B);
+DigitalIn Ch2A(CHANNNEL2_A),Ch2B(CHANNNEL2_B);
+DigitalIn Ch3A(CHANNNEL3_A),Ch3B(CHANNNEL3_B);
+DigitalIn Ch4A(CHANNNEL4_A),Ch4B(CHANNNEL4_B);
+
+Serial pc(USBTX, USBRX);
+I2CSlave slave(SDA,SCL);
+
+QEI enc1(CHANNNEL1_A,CHANNNEL1_B,NC,ROTATE_PER_REVOLUTIONS);
+QEI enc2(CHANNNEL2_A,CHANNNEL2_B,NC,ROTATE_PER_REVOLUTIONS);
+QEI enc3(CHANNNEL3_A,CHANNNEL3_B,NC,ROTATE_PER_REVOLUTIONS);
+QEI enc4(CHANNNEL4_A,CHANNNEL4_B,NC,ROTATE_PER_REVOLUTIONS);
+
+void setup(){ 
+    
+    enc1.reset();
+    enc2.reset();
+    enc3.reset();
+    enc4.reset();
+    
+    Ch1A.mode(PullUp);
+    Ch1B.mode(PullUp);
+    Ch2A.mode(PullUp);
+    Ch2B.mode(PullUp);
+    Ch3A.mode(PullUp);
+    Ch3B.mode(PullUp);
+    Ch4A.mode(PullUp);
+    Ch4B.mode(PullUp);
+}
+int main(){
+    
+    setup();
+    slave.frequency(400000);
+    slave.address(ADDR);
+    
+    static long enc1Data,enc2Data,enc3Data,enc4Data;
+    
+    char buf[16];
+    
+    while(1) {
+      
+    int  i=slave.receive();
+      
+        enc1Data=enc1.getPulses();
+        enc2Data=-enc2.getPulses();
+        enc3Data=enc3.getPulses();
+        enc4Data=enc4.getPulses();
+                  
+          buf[0]=enc1Data>>24 & 0x00ff;
+          buf[1]=enc1Data>>16 & 0x00ff;
+          buf[2]=enc1Data>>8 & 0x00ff;
+          buf[3]=enc1Data & 0x00ff;
+          
+          buf[4]=enc2Data>>24 & 0x00ff;
+          buf[5]=enc2Data>>16 & 0x00ff;
+          buf[6]=enc2Data>>8 & 0x00ff;
+          buf[7]=enc2Data & 0x00ff;
+          
+          buf[8]=enc3Data>>24 & 0x00ff;
+          buf[9]=enc3Data>>16 & 0x00ff;
+          buf[10]=enc3Data>>8 & 0x00ff;
+          buf[11]=enc3Data & 0x00ff;
+          
+          buf[12]=enc4Data>>24 & 0x00ff;
+          buf[13]=enc4Data>>16 & 0x00ff;
+          buf[14]=enc4Data>>8 & 0x00ff;
+          buf[15]=enc4Data & 0x00ff;
+          
+        pc.printf("%d %d %d %d\n",enc1Data,enc2Data,enc3Data,enc4Data);
+        
+        //マスターからのリクエストが来た際にデータを送信
+        if(i==I2CSlave::ReadAddressed){
+        slave.write(buf,16);      
+        }
+    }
+}
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