encoder read old ways
Dependencies: mbed QEI_hw SDFileSystem_Sherckuith FATFileSystem rtos
main.cpp
- Committer:
- eembed
- Date:
- 2019-08-01
- Revision:
- 1:4e2dc947ca3c
- Parent:
- 0:d3d96129e821
File content as of revision 1:4e2dc947ca3c:
#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); } */ }