Diff: main.cpp

Revision:

0:665fbfcccab8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 19 05:34:46 2013 +0000
@@ -0,0 +1,50 @@
+#include "mbed.h"
+#define PI 3.1415
+
+InterruptIn clockEncoderPin(p5);
+DigitalIn directionPin(p6);
+
+
+Serial pc(USBTX, USBRX);
+
+unsigned int encoderPos = 0;
+float velo_rad = 0;
+float angle_pos=0;
+
+unsigned long time_before = 0;
+
+bool newSpeed = false;
+bool directionBool = true;
+
+float deltaAngle = PI / 32;
+Timer timer;
+
+void encoder() {
+    time_before = timer.read_us();
+    directionBool = directionPin;
+    if (directionBool) {
+    angle_pos += PI / 32.0;
+    encoderPos++; 
+    }
+    else {
+    angle_pos -= PI / 32.0;
+    encoderPos--;
+    }
+    newSpeed = true;
+ } 
+   
+int main() {
+    clockEncoderPin.rise(&encoder);
+    timer.start();
+    while(1) {
+        if(newSpeed){
+            unsigned long deltaT = timer.read_us();
+            timer.reset();
+            velo_rad = 1000000.0 * (float)deltaAngle / (float)deltaT * (directionBool? 1: -1);
+            pc.printf("%f    " , velo_rad);
+            newSpeed = false;
+            //timer.reset();
+        }
+        
+    }
+}