Diff: main.cpp

Revision:

32:4483d6c225e5

Parent:

31:7e2cdd547cb2

Child:

33:e6ff02c3e0f5

--- a/main.cpp	Sat May 03 00:14:17 2014 +0000
+++ b/main.cpp	Wed May 07 01:05:05 2014 +0000
@@ -27,9 +27,9 @@
 Serial          pc( USBTX, USBRX );   //Comunicacion Serial directa al computador
 Serial          RS_232(p13, p14);    //Comunicacion Serial para MAX232
 
-QEIHW           encoder(  QEI_DIRINV_NONE,     // CW = postive;  CCW = negative
+QEIHW           encoder(  QEI_DIRINV_CMPL,     // CW = postive;  CCW = negative
                  QEI_SIGNALMODE_QUAD, // Absolute encoder
-                 QEI_CAPMODE_2X,      // PhA anb PhB
+                 QEI_CAPMODE_4X,      // PhA anb PhB
                  QEI_INVINX_NONE      // Not inverted index
                  );
 
@@ -75,17 +75,17 @@
 RPCFunction ReadEnc(&getENC_eth,  "ENC");
 RPCFunction ClrEnc (&setENC_eth,  "CLR");
 RPCFunction ReadRPM(&getRPM_eth,  "RPM");
-
+RPCFunction GoHome(&setHOME_eth,  "INI");
 
 
 int main() {
     
     pin_alm.fall( &ISR_Alarm ); // Entrada de la alarma driver
 
-    // limite_1.rise( &ISR_Alm_encoder );  // Alarma de colisión 1
-    // limite_2.rise( &ISR_Adv_encoder );  // Alarma de colisión 1
-    // limite_3.rise( &ISR_Adv_motor );  // Alarma de colisión 1
-    // limite_4.rise( &ISR_Alm_motor );  // Alarma de colisión 1
+     limite_1.rise( &ISR_Alm_encoder );  // Alarma de colisión 1
+     limite_2.rise( &ISR_Adv_encoder );  // Alarma de colisión 1
+     limite_3.rise( &ISR_Adv_motor );  // Alarma de colisión 1
+     limite_4.rise( &ISR_Alm_motor );  // Alarma de colisión 1
 
     encoder.SetDigiFilter(480UL);         // number of clock cycles the signal must be at high to sense it
     encoder.SetMaxPosition(0xFFFFFFFF);   // max number before overflow - may be changed for 360 or a multiple