Department of Electrical Eng University of Moratuwa / Mbed 2 deprecated 09_BC2_encoder

encoder read old ways

Dependencies:   mbed QEI_hw SDFileSystem_Sherckuith FATFileSystem rtos

main.cpp@1:4e2dc947ca3c, 2019-08-01 (annotated)

Committer:
eembed
Date:
Thu Aug 01 07:57:48 2019 +0000
Revision:
1:4e2dc947ca3c
Parent:
0:d3d96129e821 
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eembed 0:d3d96129e821 1 #include "mbed.h"
eembed 0:d3d96129e821 2 #include "qeihw.h"
eembed 0:d3d96129e821 3
eembed 0:d3d96129e821 4 QEIHW qei_m(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_2X, QEI_INVINX_NONE );
eembed 0:d3d96129e821 5 int dt_us=150;
eembed 0:d3d96129e821 6 float send_m_angle = 0.0;
eembed 0:d3d96129e821 7 float inc = 0;
eembed 0:d3d96129e821 8 int32_t temp, position = 0;
eembed 0:d3d96129e821 9
eembed 0:d3d96129e821 10 DigitalIn safety_14(p14);
eembed 0:d3d96129e821 11 DigitalIn safety_15(p13);
eembed 0:d3d96129e821 12 DigitalOut myled(LED1);
eembed 0:d3d96129e821 13 DigitalOut myled3(LED3);
eembed 0:d3d96129e821 14 DigitalIn safety_5(p5);
eembed 0:d3d96129e821 15 DigitalIn safety_6(p6);
eembed 0:d3d96129e821 16 DigitalIn safety_7(p7);
eembed 0:d3d96129e821 17 DigitalIn safety_8(p8);
eembed 0:d3d96129e821 18 DigitalIn safety_9(p9);
eembed 0:d3d96129e821 19 DigitalIn safety_10(p10);
eembed 0:d3d96129e821 20 DigitalIn safety_11(p15);
eembed 0:d3d96129e821 21 DigitalIn safety_12(p12);
eembed 0:d3d96129e821 22 DigitalIn safety_13(p11);
eembed 0:d3d96129e821 23 DigitalIn safety_16(p16);
eembed 0:d3d96129e821 24 DigitalIn safety_17(p17);
eembed 0:d3d96129e821 25 DigitalIn safety_18(p18);
eembed 0:d3d96129e821 26 DigitalIn safety_19(p19);
eembed 0:d3d96129e821 27 DigitalIn safety_20(p20);
eembed 0:d3d96129e821 28 DigitalIn safety_21(p21);
eembed 0:d3d96129e821 29 DigitalIn safety_22(p22);
eembed 0:d3d96129e821 30 DigitalIn safety_23(p23);
eembed 0:d3d96129e821 31 DigitalIn safety_24(p24);
eembed 0:d3d96129e821 32 DigitalIn safety_25(p25);
eembed 0:d3d96129e821 33 DigitalIn safety_26(p26);
eembed 0:d3d96129e821 34 DigitalIn safety_27(p27);
eembed 0:d3d96129e821 35 DigitalIn safety_28(p28);
eembed 0:d3d96129e821 36 DigitalIn safety_29(p29);
eembed 0:d3d96129e821 37 DigitalIn safety_30(p30);
eembed 0:d3d96129e821 38
eembed 0:d3d96129e821 39 Ethernet eth;
eembed 0:d3d96129e821 40 Ticker ticker;
eembed 0:d3d96129e821 41
eembed 0:d3d96129e821 42 // Encoder Constants
eembed 0:d3d96129e821 43 float const encoder_pulses_m = 10000.0;
eembed 0:d3d96129e821 44 #define PI 3.141592653
eembed 0:d3d96129e821 45
eembed 0:d3d96129e821 46
eembed 0:d3d96129e821 47 void send(void)
eembed 0:d3d96129e821 48 {
eembed 0:d3d96129e821 49 inc++;
eembed 0:d3d96129e821 50 position = qei_m.GetPosition();
eembed 0:d3d96129e821 51 send_m_angle = position * 2.0 * PI / encoder_pulses_m;
eembed 0:d3d96129e821 52 eth.write((char *)&send_m_angle, sizeof(send_m_angle));
eembed 0:d3d96129e821 53 //eth.write((char *)&inc, sizeof(inc));
eembed 0:d3d96129e821 54 myled3 = !myled3;
eembed 0:d3d96129e821 55 eth.send();
eembed 0:d3d96129e821 56 // wait_us(10);
eembed 0:d3d96129e821 57 // return 0;
eembed 0:d3d96129e821 58 }
eembed 0:d3d96129e821 59
eembed 0:d3d96129e821 60 int main()
eembed 0:d3d96129e821 61 {
eembed 0:d3d96129e821 62 eth.set_link(Ethernet::HalfDuplex100);
eembed 0:d3d96129e821 63 wait_ms(1000); // Needed after startup.
eembed 0:d3d96129e821 64
eembed 0:d3d96129e821 65 if(eth.link())
eembed 0:d3d96129e821 66 {
eembed 0:d3d96129e821 67 myled = 1;
eembed 0:d3d96129e821 68 } else
eembed 0:d3d96129e821 69 {
eembed 0:d3d96129e821 70 myled = 0;
eembed 0:d3d96129e821 71 }
eembed 0:d3d96129e821 72
eembed 0:d3d96129e821 73 int32_t temp, position = 0;
eembed 0:d3d96129e821 74 qei_m.SetDigiFilter(480UL);
eembed 0:d3d96129e821 75 qei_m.SetMaxPosition(0xFFFFFFFF);
eembed 0:d3d96129e821 76
eembed 0:d3d96129e821 77 ticker.attach_us(&send, dt_us);
eembed 0:d3d96129e821 78 //ticker.attach_us(&Control_body, dt_us);
eembed 0:d3d96129e821 79 /* while(1) {
eembed 0:d3d96129e821 80 inc++;
eembed 0:d3d96129e821 81 position = qei_m.GetPosition();
eembed 0:d3d96129e821 82 send_m_angle = position * 2.0 * PI / encoder_pulses_m;
eembed 0:d3d96129e821 83 eth.write((char *)&send_m_angle, sizeof(send_m_angle));
eembed 0:d3d96129e821 84 //eth.write((char *)&inc, sizeof(inc));
eembed 0:d3d96129e821 85 myled3 = !myled3;
eembed 0:d3d96129e821 86 eth.send();
eembed 0:d3d96129e821 87 wait_us(10);
eembed 0:d3d96129e821 88 } */
eembed 0:d3d96129e821 89 }