Diff: main.cpp

Revision:

2:af377291f3ae

Parent:

1:1e3eb2d1496b

Child:

3:ee5e434e047e

--- a/main.cpp	Wed May 02 08:01:38 2018 +0000
+++ b/main.cpp	Tue Oct 15 05:03:34 2019 +0000
@@ -1,31 +1,41 @@
 #include "mbed.h"
 #include "QEI.h"
+
+//两个轮子L298N
 DigitalOut w1(PB_6);
 DigitalOut w2(PB_7);
 DigitalOut w3(PB_8);
 DigitalOut w4(PB_9);
 PwmOut mypwm1(PA_9);
 PwmOut mypwm2(PA_8);
+//调试串口
 Serial pc(PB_10, PB_11);
+
 Ticker toggle_time_ticker;
-QEI wheel(PA_2, PA_3, NC, 11, QEI::X4_ENCODING);
+//编码器1-4
+QEI wheel(PA_2, PA_3, NC, 11, QEI::X4_ENCODING);                //买来的电机自带编码器,说明书上有电机每转一圈编码器发生11个信号
 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);
+    
+    toggle_time_ticker.attach(&time_ticker, 0.2);       //使能ticker中断,0.2s产生一次.中断函数用于获取每个轮子的计数值
+    
     pc.attach(&serialread);
+    
     mypwm1.pulsewidth(a);
-     mypwm2.pulsewidth(b);
-    wheel.reset();
+    mypwm2.pulsewidth(b);
+    wheel.reset();      //reset函数,将编码器计数值赋0(初始化编码器,开始计数)
     wheel2.reset();
     w1 = 0;
-  w2 = 0;
+    w2 = 0;
     w3 = 0;
     w4 = 0; 
     while(1)
@@ -35,11 +45,17 @@
 }
 
 void time_ticker(){
-    x = wheel.getPulses();
+    //获取一个轮子的编码器读到的数和旋转方向
+    x = wheel.getPulses();      
+    x = x/44;       //将编码器计数值转化成轮子旋转的圈数
+    wheel.getState();   //获取旋转方向,返回值为1--顺时针, -1--逆时针         
     y = wheel2.getPulses();
+    y = y/44;       //将编码器计数值转化成轮子旋转的圈数
+    wheel2.getState();  //获取旋转方向,返回值为1--顺时针, -1--逆时针
+    
     wheel.reset();
     wheel2.reset();
-  pc.printf("x:%d y:%d\n",x,y);
+    pc.printf("x:%d y:%d\n",x,y);
 }
 
 void serialread(){
@@ -50,7 +66,7 @@
           w4=0;
         break;
     case '2':
-            w1=1;
+          w1=1;
           w4=1;
         break;
     default: