Revision 1:bbe0769f00e9, committed 2021-06-21

Comitter:

Yolandataniaa

Date:

Mon Jun 21 07:48:27 2021 +0000

Parent:

0:49e87dcad299

Commit message:

revisi

Changed in this revision

--- a/encoderHAL/encoderHAL.cpp	Fri Jun 18 11:04:08 2021 +0000
+++ b/encoderHAL/encoderHAL.cpp	Mon Jun 21 07:48:27 2021 +0000
@@ -68,13 +68,13 @@
                     TIM4->CNT = 0;
                 break;
                 
-                case TIM5_BASE :
-                    TIM5->CNT = 0;
-                break;
+                //case TIM5_BASE :
+//                    TIM5->CNT = 0;
+//                break;
                 
-                case TIM8_BASE :
-                    TIM8->CNT = 0;
-                break;
+//                case TIM8_BASE :
+//                    TIM8->CNT = 0;
+//                break;
             }
         }
         else{
@@ -91,12 +91,12 @@
                 
                 case TIM4_BASE :
                     return (int32_t)count;
-                
-                case TIM5_BASE :
-                    return (int32_t)count;
-                    
-                case TIM8_BASE :
-                    return (int32_t)count;
+    //            
+//                case TIM5_BASE :
+//                    return (int32_t)count;
+//                    
+//                case TIM8_BASE :
+//                    return (int32_t)count;
             }
         }
         

--- a/main.cpp	Fri Jun 18 11:04:08 2021 +0000
+++ b/main.cpp	Mon Jun 21 07:48:27 2021 +0000
@@ -8,24 +8,40 @@
 
 //declare
 //encoderKRAI encoder_eks(PB_10,PB_3,538,encoderKRAI::X4_ENCODING);// input pin
-encoderHAL enc_eks(TIM8);
+encoderHAL enc_eks(TIM3);
 //encoderKRAI encoder(PA_8,PC_9,538,encoderKRAI::X4_ENCODING);// input pin
 Serial pc(USBTX, USBRX,115200);
 Motor main_motor(PA_7 , PA_11, PB_12);
+DigitalIn pin1(PB_8);
+DigitalIn pin2(PB_9);
+DigitalIn pin3(PB_4);
+DigitalIn pin4(PB_5);
+DigitalIn pin5(PB_6);
+DigitalIn pin6(PB_7);
+
+I2C i2c (PB_7, PB_6);
+
+const int addr = 0x90;
 
 //double pulse;
 double pulse_eks;
 uint32_t samp_enc_ex = 0;
+int32_t val1, val2, val3, val4, val5, val6;
+
 
 int main (){
-    startMillis();
+//    startMillis();
     while(1){
-        if (millis() - samp_enc_ex > 10){
+//        if (millis() - samp_enc_ex > 10){
             pulse_eks += (double)enc_eks.getPulses(1);
 //            pulse = (double)encoder.getPulses();
-            pc.printf("pulse :%f\n", pulse_eks);
-            samp_enc_ex = millis();
-        }
+    i2c.write(addr, pulse_eks, 1);
+            //val1= pin1.read();
+//            val2= pin2.read();
+//            val1 = enc_eks.getPulses(0);
+//            pc.printf("%d\n", val1);
+//            samp_enc_ex = millis();
+//        }
         
     }
 }