main.cpp

00001 #include "mbed.h"
00002 #include "QEI.h"
00003 
00004 const float M_PI = 3.14159265358979323846;
00005 
00006 Serial pc(USBTX, USBRX);
00007 Ticker flipper1;
00008 
00009 Timer timer;
00010 
00011 const int PPR = 1024;
00012 const int gear_ratio = 126; 
00013 //const float Sampling_time1 = 0.0005;
00014 const float Sampling_time1 = 0.01;
00015 
00016 QEI encs[6] = {
00017      QEI(PD_12,  PA_15, NC, PPR, &timer),
00018      QEI(PD_3,  PB_6, NC, PPR, &timer),
00019      QEI(PB_10, PB_4, NC, PPR, &timer),//, QEI::X4_ENCODING),
00020      QEI(PH_1,  PC_0, NC, PPR, &timer),
00021      QEI(PG_2,  PC_7, NC, PPR, &timer),
00022      QEI(PB_5,  PD_13, NC, PPR, &timer),
00023 };
00024 
00025 void flip1() {
00026     for(int i=0;i<6;i++)
00027         pc.printf("%f\n",encs[i].getAngle());
00028     pc.printf("\n");
00029 }
00030 
00031 int main() {
00032     pc.baud(115200);
00033     flipper1.attach(&flip1, Sampling_time1);
00034     
00035     while(1){
00036         //pc.printf("%f, %f, %f, %f, %f, %f\n", float(Pulses1), Angle1, Angular_velocity1, float(Pulses2), Angle2, Angular_velocity2);
00037     }
00038 }