Revision 1:2c9a92a538e4, committed 2021-11-24

Comitter:

ea78anana

Date:

Wed Nov 24 10:28:01 2021 +0000

Parent:

0:59348dbbd541

Commit message:

encoder

Changed in this revision

--- a/Encoder.cpp	Sat Nov 20 15:12:50 2021 +0000
+++ b/Encoder.cpp	Wed Nov 24 10:28:01 2021 +0000
@@ -9,11 +9,7 @@
 #define LOW 0
 
 //Initialize Variable
-unsigned long time1 = 0; // Time
-float time_cw;
-float time_ccw;
 int counter_cw = 0;
-int counter_ccw = 0;
 const float d = 0.058; //Diameter of the wheel
 const float pi = 3.141592654;//PI
 int num = 0;//number of turns
@@ -43,7 +39,7 @@
         
              else
         
-        {  counter_ccw++; 
+        {  counter_cw--; 
         
         
         
@@ -57,9 +53,8 @@
     a11.rise(&Encode0);
 }
 
-void Set_state(int a, int b){
+void Set_state(int a){
     counter_cw = a;
-    counter_ccw = b;
     n = 0;
 }
 
@@ -71,32 +66,22 @@
     n = n + 2;
     if (counter_cw >= 2500)
     {
-//      Printf("ok");//Testing
       temp = counter_cw / 2500;
-      num = num + temp;
       current = counter_cw - 2500 * temp;
       t = n;
-      Set_state(current, counter_ccw);
-      distance = num * d * pi; 
+      Set_state(current);
       velocity = (temp * d * pi) / t;
-      current = 0;
-      pc.printf("turns: %d \r\n", num);
       pc.printf("The wheel has run ");pc.printf("%f", distance); pc.printf("m.");
       pc.printf("The cw_speed is ");pc.printf("%f", velocity); pc.printf("m/s.");
     }
     //anti-clockwise turning
-    else if (counter_ccw >= 2500)
+    else if (counter_cw >= -2500)
     {
-//      Printf("ok");//Testing
-      temp = counter_ccw / 2500;
-      num = num + temp;
-      current = counter_ccw - 2500 * temp;
+      temp = counter_cw / 2500;
+      current = counter_cw + 2500 * temp;
       t = n;
-      Set_state(counter_cw,current);
-      distance = num * d * pi; 
+      Set_state(current);
       velocity = d * pi / t;
-      current = 0;
-      pc.printf("turns: %d \r\n", num);
       pc.printf("The wheel has run ");pc.printf("%f", distance); pc.printf("m.");
       pc.printf("The cw_speed is ");pc.printf("%f", velocity); pc.printf("m/s.");
     }