Yolanda Tania / Mbed 2 deprecated bacaencoder

nambah buat eksternal

Dependencies:   mbed encoderKRAI Motor_new

main.cpp@1:bbe0769f00e9, 2021-06-21 (annotated)

Committer:
Yolandataniaa
Date:
Mon Jun 21 07:48:27 2021 +0000
Revision:
1:bbe0769f00e9
Parent:
0:49e87dcad299 
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Yolandataniaa 0:49e87dcad299 1 //
Yolandataniaa 0:49e87dcad299 2
Yolandataniaa 0:49e87dcad299 3 #include <Motor.h>
Yolandataniaa 0:49e87dcad299 4 #include <encoderKRAI.h>
Yolandataniaa 0:49e87dcad299 5 #include <mbed.h>
Yolandataniaa 0:49e87dcad299 6 #include "encoderHAL.h"
Yolandataniaa 0:49e87dcad299 7 #include "millis/millis.h"
Yolandataniaa 0:49e87dcad299 8
Yolandataniaa 0:49e87dcad299 9 //declare
Yolandataniaa 0:49e87dcad299 10 //encoderKRAI encoder_eks(PB_10,PB_3,538,encoderKRAI::X4_ENCODING);// input pin
Yolandataniaa 1:bbe0769f00e9 11 encoderHAL enc_eks(TIM3);
Yolandataniaa 0:49e87dcad299 12 //encoderKRAI encoder(PA_8,PC_9,538,encoderKRAI::X4_ENCODING);// input pin
Yolandataniaa 0:49e87dcad299 13 Serial pc(USBTX, USBRX,115200);
Yolandataniaa 0:49e87dcad299 14 Motor main_motor(PA_7 , PA_11, PB_12);
Yolandataniaa 1:bbe0769f00e9 15 DigitalIn pin1(PB_8);
Yolandataniaa 1:bbe0769f00e9 16 DigitalIn pin2(PB_9);
Yolandataniaa 1:bbe0769f00e9 17 DigitalIn pin3(PB_4);
Yolandataniaa 1:bbe0769f00e9 18 DigitalIn pin4(PB_5);
Yolandataniaa 1:bbe0769f00e9 19 DigitalIn pin5(PB_6);
Yolandataniaa 1:bbe0769f00e9 20 DigitalIn pin6(PB_7);
Yolandataniaa 1:bbe0769f00e9 21
Yolandataniaa 1:bbe0769f00e9 22 I2C i2c (PB_7, PB_6);
Yolandataniaa 1:bbe0769f00e9 23
Yolandataniaa 1:bbe0769f00e9 24 const int addr = 0x90;
Yolandataniaa 0:49e87dcad299 25
Yolandataniaa 0:49e87dcad299 26 //double pulse;
Yolandataniaa 0:49e87dcad299 27 double pulse_eks;
Yolandataniaa 0:49e87dcad299 28 uint32_t samp_enc_ex = 0;
Yolandataniaa 1:bbe0769f00e9 29 int32_t val1, val2, val3, val4, val5, val6;
Yolandataniaa 1:bbe0769f00e9 30
Yolandataniaa 0:49e87dcad299 31
Yolandataniaa 0:49e87dcad299 32 int main (){
Yolandataniaa 1:bbe0769f00e9 33 // startMillis();
Yolandataniaa 0:49e87dcad299 34 while(1){
Yolandataniaa 1:bbe0769f00e9 35 // if (millis() - samp_enc_ex > 10){
Yolandataniaa 0:49e87dcad299 36 pulse_eks += (double)enc_eks.getPulses(1);
Yolandataniaa 0:49e87dcad299 37 // pulse = (double)encoder.getPulses();
Yolandataniaa 1:bbe0769f00e9 38 i2c.write(addr, pulse_eks, 1);
Yolandataniaa 1:bbe0769f00e9 39 //val1= pin1.read();
Yolandataniaa 1:bbe0769f00e9 40 // val2= pin2.read();
Yolandataniaa 1:bbe0769f00e9 41 // val1 = enc_eks.getPulses(0);
Yolandataniaa 1:bbe0769f00e9 42 // pc.printf("%d\n", val1);
Yolandataniaa 1:bbe0769f00e9 43 // samp_enc_ex = millis();
Yolandataniaa 1:bbe0769f00e9 44 // }
Yolandataniaa 0:49e87dcad299 45
Yolandataniaa 0:49e87dcad299 46 }
Yolandataniaa 0:49e87dcad299 47 }