Haruto Yano
/
enc
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Revision 0:0e932ca418b4, committed 2019-11-27
- Comitter:
- firefly1250
- Date:
- Wed Nov 27 07:16:28 2019 +0000
- Commit message:
- initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI2.lib Wed Nov 27 07:16:28 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/kikoaac/code/QEI2/#49fa8827718d
--- /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);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 27 07:16:28 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file