![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
nRF24L01, encoder, pca9685, pid
Dependencies: mbed QEI-1 nRF24L01P xiugai
main.cpp
- Committer:
- glintligo
- Date:
- 2018-05-02
- Revision:
- 1:1e3eb2d1496b
- Parent:
- 0:e63858fec119
- Child:
- 2:af377291f3ae
File content as of revision 1:1e3eb2d1496b:
#include "mbed.h" #include "QEI.h" DigitalOut w1(PB_6); DigitalOut w2(PB_7); DigitalOut w3(PB_8); DigitalOut w4(PB_9); PwmOut mypwm1(PA_9); PwmOut mypwm2(PA_8); Serial pc(PB_10, PB_11); Ticker toggle_time_ticker; QEI wheel(PA_2, PA_3, NC, 11, QEI::X4_ENCODING); QEI wheel2(PA_6, PA_7, NC, 11, QEI::X4_ENCODING); int x,y; float a= 0.01, b = 0.00860454; void time_ticker(); void serialread(); int main() { mypwm1.period_ms(10); mypwm2.period_ms(10); toggle_time_ticker.attach(&time_ticker, 0.2); pc.attach(&serialread); mypwm1.pulsewidth(a); mypwm2.pulsewidth(b); wheel.reset(); wheel2.reset(); w1 = 0; w2 = 0; w3 = 0; w4 = 0; while(1) { } } void time_ticker(){ x = wheel.getPulses(); y = wheel2.getPulses(); wheel.reset(); wheel2.reset(); pc.printf("x:%d y:%d\n",x,y); } void serialread(){ switch (pc.getc()) { case '1': w1=0; w4=0; break; case '2': w1=1; w4=1; break; default: break; } }