Diff: main.cpp

Revision:

9:cca4d4084775

Parent:

8:9c58ca13076e

Child:

10:cf579c3eaf01

--- a/main.cpp	Mon Oct 10 12:09:49 2016 +0000
+++ b/main.cpp	Tue Oct 11 11:00:18 2016 +0000
@@ -1,11 +1,13 @@
 #include "mbed.h"
 #include "MODSERIAL.h"
 #include "Servo.h"
+#include "QEI.h"
 
-DigitalIn Encoder_M1A(D9); 
-DigitalIn Encoder_M1B(D10);
-DigitalIn Encoder_M2A(D11); 
-DigitalIn Encoder_M2B(D12);
+QEI encoder_M1 (D9, D10, NC, 8400);
+QEI encoder_M2 (D11, D12, NC, 8400);
+
+Ticker encoder_M1_ticker;
+Ticker encoder_M2_ticker;
 
 DigitalOut Direction_M1(D4);    //To control the rotation direction of the arm
 PwmOut Speed_M1(D5);            //To control the rotation speed of the arm
@@ -14,8 +16,8 @@
 
 Servo gripper_servo(D13);        //To control the gripper (Note: D8=PTC12)
 
-InterruptIn Switch_1(SW2);       //To control the rotation to the left
-InterruptIn Switch_2(SW3);      //To control the rotation to the right
+InterruptIn Switch_1(SW2);     //To control the rotation to the left
+InterruptIn Switch_2(SW3);     //To control the rotation to the right
 InterruptIn Switch_3(D2);      //To control the translation of the arm
 InterruptIn Switch_4(D3);      //To control the gripper
 
@@ -27,11 +29,24 @@
 MODSERIAL pc(USBTX, USBRX);     //To make connection with the PC
 
 const double pi = 3.1415926535897;
+
 double speed_rotation=pi/5;       //in rad/sec
 double speed_translation=pi/5;    //in rad/sec
 double speedM1=speed_rotation/8.4;
 double speedM2=speed_translation/8.4;
 
+void read_position_M1(){
+    int pulses_M1 = encoder_M1.getPulses();
+    float angle_M1 = float(pulses_M1)/4200*2.0*pi;
+    pc.printf("%i \t%f \t", pulses_M1, angle_M1);
+}
+
+void read_position_M2(){
+    int pulses_M2 = encoder_M2.getPulses();
+    float angle_M2 = float(pulses_M2)/4200*2.0*pi;
+    pc.printf("%i \t%f \n", pulses_M2, angle_M2);
+}
+
 void rotation_left (){
     switch (counter_rotation_left){
         case 1:                              //For activating the rotation to the left
@@ -151,6 +166,10 @@
     Direction_M2 = 255;             //The arm will initially turn left  
     Speed_M2 = 0;                   //The second motor is initially turned off
     gripper_servo = 1;              //The gripper is initially open
+    encoder_M1.reset();
+    encoder_M2.reset();
+    encoder_M1_ticker.attach(&read_position_M1,0.5);
+    encoder_M2_ticker.attach(&read_position_M2,0.5);
     
     Switch_1.rise(&switch_counter_rotation_left);
     Switch_2.rise(&switch_counter_rotation_right);