tianyun ma / Mbed 2 deprecated omni

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Dependencies:   QEI mbed

main.cpp@0:5d1c1999d61d, 2018-05-07 (annotated)

Committer:
himarsmty
Date:
Mon May 07 06:58:54 2018 +0000
Revision:
0:5d1c1999d61d
s

Who changed what in which revision?

UserRevisionLine numberNew contents of line
himarsmty 0:5d1c1999d61d 1 #include "Omni.h"
himarsmty 0:5d1c1999d61d 2 #include "QEI.h"
himarsmty 0:5d1c1999d61d 3 Serial pc(PB_10,PB_11);
himarsmty 0:5d1c1999d61d 4
himarsmty 0:5d1c1999d61d 5 QEI wheel1(PA_2, PA_3, NC, 11, QEI::X4_ENCODING);
himarsmty 0:5d1c1999d61d 6 QEI wheel2(PA_9, PA_10, NC, 11, QEI::X4_ENCODING);
himarsmty 0:5d1c1999d61d 7 QEI wheel3(PA_0, PA_1, NC, 11, QEI::X4_ENCODING);
himarsmty 0:5d1c1999d61d 8 Ticker toggle_time_ticker;
himarsmty 0:5d1c1999d61d 9 int get_v1,get_v2,get_v3;
himarsmty 0:5d1c1999d61d 10 void time_ticker();
himarsmty 0:5d1c1999d61d 11 int main()
himarsmty 0:5d1c1999d61d 12 {
himarsmty 0:5d1c1999d61d 13 Omni my_omni;
himarsmty 0:5d1c1999d61d 14 my_omni.mv_x(600);
himarsmty 0:5d1c1999d61d 15 wheel1.reset();
himarsmty 0:5d1c1999d61d 16 wheel2.reset();
himarsmty 0:5d1c1999d61d 17 wheel3.reset();
himarsmty 0:5d1c1999d61d 18 // w1 = 0;
himarsmty 0:5d1c1999d61d 19 // w2 = 1;
himarsmty 0:5d1c1999d61d 20 toggle_time_ticker.attach(&time_ticker, 0.2);
himarsmty 0:5d1c1999d61d 21
himarsmty 0:5d1c1999d61d 22
himarsmty 0:5d1c1999d61d 23 }
himarsmty 0:5d1c1999d61d 24 void time_ticker(){
himarsmty 0:5d1c1999d61d 25 get_v1 = wheel1.getPulses();
himarsmty 0:5d1c1999d61d 26 get_v2=wheel2.getPulses();
himarsmty 0:5d1c1999d61d 27 get_v3=wheel3.getPulses();
himarsmty 0:5d1c1999d61d 28 wheel1.reset();
himarsmty 0:5d1c1999d61d 29 wheel2.reset();
himarsmty 0:5d1c1999d61d 30 wheel3.reset();
himarsmty 0:5d1c1999d61d 31 pc.printf("%d %d %d\n ",get_v1,get_v2,get_v3);
himarsmty 0:5d1c1999d61d 32 }