Diff: main.cpp

Revision:

0:d3d96129e821

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Aug 01 07:49:56 2019 +0000
@@ -0,0 +1,89 @@
+#include "mbed.h"
+#include "qeihw.h"
+ 
+QEIHW qei_m(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_2X, QEI_INVINX_NONE );
+int dt_us=150;
+   float send_m_angle = 0.0;
+   float inc = 0;
+   int32_t temp, position = 0;   
+
+DigitalIn safety_14(p14);
+DigitalIn safety_15(p13);
+DigitalOut myled(LED1);
+DigitalOut myled3(LED3);
+DigitalIn safety_5(p5);
+DigitalIn safety_6(p6);
+DigitalIn safety_7(p7);
+DigitalIn safety_8(p8);
+DigitalIn safety_9(p9);
+DigitalIn safety_10(p10);
+DigitalIn safety_11(p15);
+DigitalIn safety_12(p12);
+DigitalIn safety_13(p11);
+DigitalIn safety_16(p16);
+DigitalIn safety_17(p17);
+DigitalIn safety_18(p18);
+DigitalIn safety_19(p19);
+DigitalIn safety_20(p20);
+DigitalIn safety_21(p21);
+DigitalIn safety_22(p22);
+DigitalIn safety_23(p23);
+DigitalIn safety_24(p24);
+DigitalIn safety_25(p25);
+DigitalIn safety_26(p26);
+DigitalIn safety_27(p27);
+DigitalIn safety_28(p28);
+DigitalIn safety_29(p29);
+DigitalIn safety_30(p30);
+
+Ethernet eth;
+Ticker ticker;
+
+// Encoder Constants
+float const encoder_pulses_m = 10000.0;
+#define PI 3.141592653
+
+
+void send(void)
+{
+    inc++;
+    position = qei_m.GetPosition();
+    send_m_angle = position * 2.0 * PI / encoder_pulses_m;
+    eth.write((char *)&send_m_angle, sizeof(send_m_angle));
+    //eth.write((char *)&inc, sizeof(inc));
+    myled3 = !myled3;
+    eth.send(); 
+    // wait_us(10);
+    // return 0;    
+} 
+
+int main()
+{
+    eth.set_link(Ethernet::HalfDuplex100);
+    wait_ms(1000); // Needed after startup.
+
+    if(eth.link())
+    {
+        myled = 1;
+    } else
+    {
+        myled = 0;
+    }
+    
+    int32_t temp, position = 0;                      
+    qei_m.SetDigiFilter(480UL);
+    qei_m.SetMaxPosition(0xFFFFFFFF);
+    
+    ticker.attach_us(&send, dt_us);
+//ticker.attach_us(&Control_body, dt_us);
+/*    while(1) {
+          inc++;
+          position = qei_m.GetPosition();
+          send_m_angle = position * 2.0 * PI / encoder_pulses_m;
+          eth.write((char *)&send_m_angle, sizeof(send_m_angle));
+          //eth.write((char *)&inc, sizeof(inc));
+          myled3 = !myled3;
+          eth.send(); 
+          wait_us(10);
+   }     */
+}