Diff: main.cpp

Revision:

0:5d1c1999d61d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 07 06:58:54 2018 +0000
@@ -0,0 +1,32 @@
+#include "Omni.h"
+#include "QEI.h"
+Serial pc(PB_10,PB_11);
+
+QEI wheel1(PA_2, PA_3, NC, 11, QEI::X4_ENCODING);
+QEI wheel2(PA_9, PA_10, NC, 11, QEI::X4_ENCODING);
+QEI wheel3(PA_0, PA_1, NC, 11, QEI::X4_ENCODING);
+Ticker toggle_time_ticker;
+int get_v1,get_v2,get_v3;
+void time_ticker();
+int main()
+{
+    Omni my_omni;
+    my_omni.mv_x(600);
+    wheel1.reset();
+      wheel2.reset();
+        wheel3.reset();
+//    w1 = 0;
+//  w2 = 1;
+           toggle_time_ticker.attach(&time_ticker, 0.2);
+
+
+}
+void time_ticker(){
+    get_v1 = wheel1.getPulses();
+    get_v2=wheel2.getPulses();
+    get_v3=wheel3.getPulses();
+        wheel1.reset();
+      wheel2.reset();
+        wheel3.reset();
+  pc.printf("%d      %d         %d\n ",get_v1,get_v2,get_v3);
+}