Diff: main.cpp

Revision:

0:ad5e5d970dd9

Child:

1:350bf501d1af

diff -r 000000000000 -r ad5e5d970dd9 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 24 03:19:51 2022 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "QEI.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);//电脑串口通讯
+
+QEI EnA(PB_3,PA_4,NC,20);//编码器
+QEI EnB(PA_5,PA_6,NC,20);//编码器
+DigitalOut M1INA(PA_12);//方向1
+DigitalOut M1INB(PB_7);//方向2
+DigitalOut M2INA(PB_0);//方向1
+DigitalOut M2INB(PB_6);//方向2
+PwmOut M1PWM(PB_1);//pwm速度
+PwmOut M2PWM(PA_8);//pwm速度
+DigitalIn M1Iln(PA_11);//方向1
+DigitalIn M2Iln(PB_5);//方向2
+AnalogIn MI1(PA_0);//读电流
+AnalogIn MI2(PA_1);//读电流
+AnalogIn adj(PA_3);//读电流
+
+Ticker Velo;
+int VA=0,sttA=0,stpA=0,VB=0,sttB=0,stpB=0;
+
+float adj_point=0.0f;
+
+void motor_run(int M,float pwr,int drc)
+{
+    if(M==1) {
+        if(drc==0) {
+            M1INA=1;
+            M1INB=0;
+        } else {
+            M1INA=0;
+            M1INB=1;
+        }
+        M1PWM.period_us(100);
+        M1PWM.write(pwr);}
+    else{
+        if(drc==0) {
+            M2INA=1;
+            M2INB=0;
+        } else {
+            M2INA=0;
+            M2INB=1;
+        }
+        M2PWM.period_us(100);
+        M2PWM.write(pwr);
+    }
+        
+}
+void Read_Velocity(){
+     stpA=EnA.getPulses();
+     stpB=EnB.getPulses();
+     VA=stpA-sttA;
+     VB=stpB-sttB;
+     sttA= stpA;
+     sttB= stpB;
+     pc.printf("%d  %d   %.3f\n",VA,VB,adj_point);
+    }
+int main()
+{   Velo.attach(&Read_Velocity, 0.01);
+    pc.baud(115200);
+    pc.printf("PC connected!\n");
+    while(1){
+    adj_point=adj.read();
+    motor_run(1,adj_point,0);
+    motor_run(2,adj_point,0);
+    wait_ms(50);
+    }
+}
+
+
+