main.cpp

00001 //
00002 
00003 #include <Motor.h>
00004 #include <encoderKRAI.h>
00005 #include <mbed.h>
00006 #include "encoderHAL.h"
00007 #include "millis/millis.h"
00008 
00009 //declare
00010 //encoderKRAI encoder_eks(PB_10,PB_3,538,encoderKRAI::X4_ENCODING);// input pin
00011 encoderHAL enc_eks(TIM3);
00012 //encoderKRAI encoder(PA_8,PC_9,538,encoderKRAI::X4_ENCODING);// input pin
00013 Serial pc(USBTX, USBRX,115200);
00014 Motor main_motor(PA_7 , PA_11, PB_12);
00015 DigitalIn pin1(PB_8);
00016 DigitalIn pin2(PB_9);
00017 DigitalIn pin3(PB_4);
00018 DigitalIn pin4(PB_5);
00019 DigitalIn pin5(PB_6);
00020 DigitalIn pin6(PB_7);
00021 
00022 I2C i2c (PB_7, PB_6);
00023 
00024 const int addr = 0x90;
00025 
00026 //double pulse;
00027 double pulse_eks;
00028 uint32_t samp_enc_ex = 0;
00029 int32_t val1, val2, val3, val4, val5, val6;
00030 
00031 
00032 int main (){
00033 //    startMillis();
00034     while(1){
00035 //        if (millis() - samp_enc_ex > 10){
00036             pulse_eks += (double)enc_eks.getPulses(1);
00037 //            pulse = (double)encoder.getPulses();
00038     i2c.write(addr, pulse_eks, 1);
00039             //val1= pin1.read();
00040 //            val2= pin2.read();
00041 //            val1 = enc_eks.getPulses(0);
00042 //            pc.printf("%d\n", val1);
00043 //            samp_enc_ex = millis();
00044 //        }
00045         
00046     }
00047 }