Diff: main.cpp

Revision:

0:0e932ca418b4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 27 07:16:28 2019 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include "QEI.h"
+
+const float M_PI = 3.14159265358979323846;
+
+Serial pc(USBTX, USBRX);
+Ticker flipper1;
+
+Timer timer;
+
+const int PPR = 1024;
+const int gear_ratio = 126; 
+//const float Sampling_time1 = 0.0005;
+const float Sampling_time1 = 0.01;
+
+QEI encs[6] = {
+     QEI(PD_12,  PA_15, NC, PPR, &timer),
+     QEI(PD_3,  PB_6, NC, PPR, &timer),
+     QEI(PB_10, PB_4, NC, PPR, &timer),//, QEI::X4_ENCODING),
+     QEI(PH_1,  PC_0, NC, PPR, &timer),
+     QEI(PG_2,  PC_7, NC, PPR, &timer),
+     QEI(PB_5,  PD_13, NC, PPR, &timer),
+};
+
+void flip1() {
+    for(int i=0;i<6;i++)
+        pc.printf("%f\n",encs[i].getAngle());
+    pc.printf("\n");
+}
+
+int main() {
+    pc.baud(115200);
+    flipper1.attach(&flip1, Sampling_time1);
+    
+    while(1){
+        //pc.printf("%f, %f, %f, %f, %f, %f\n", float(Pulses1), Angle1, Angular_velocity1, float(Pulses2), Angle2, Angular_velocity2);
+    }
+}