Diff: main.cpp

Revision:

3:e3d12393adb1

Parent:

2:bbaa6fca2ab1

Child:

4:36e32ddf2443

--- a/main.cpp	Wed Oct 02 11:22:51 2019 +0000
+++ b/main.cpp	Wed Oct 02 12:45:18 2019 +0000
@@ -3,21 +3,24 @@
 #include "FastPWM.h"
 #include "QEI.h"
 
+MODSERIAL pc(USBTX, USBRX);
 DigitalOut motor2_direction(D4);
 PwmOut motor2_pwm(D5);
 
+QEI encoder (D11, D12, NC, 8400, QEI::X4_ENCODING);
+
+int enc_count;
+int prev_count = 0;
+
 int main() {
+    pc.baud(115200);
+    pc.printf("initializing\r\n");
+    
     while (true) {
-        motor2_direction = 1;
-        for (float i = 0; i < 1; i+=0.01) {
-            motor2_pwm = i;
-            wait(0.1);
-        }
-        motor2_direction = 0;
-        for (float i = 0; i < 1; i+=0.01) {
-           motor2_pwm = i;
-           wait(0.1);
-        }
+        enc_count = encoder.getPulses();
+        pc.printf("%f\r\n", float(enc_count-prev_count)*360/(8400*0.025));
+        prev_count = enc_count;
+        wait_ms(25);
     }
 }
         
\ No newline at end of file