![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
koko
main.cpp
- Committer:
- imoha
- Date:
- 2019-09-15
- Revision:
- 0:5b4d5f6c4a68
File content as of revision 0:5b4d5f6c4a68:
#include "mbed.h" #include "QEI.h" PwmOut MRA (PB_15); PwmOut MRB (PB_14); //Right PwmOut MLA (PB_13); PwmOut MLB (PA_11); //Left PwmOut s1 (PB_8);//包容力 PwmOut s2 (PB_9);//raise BusIn Encoder(PA_6,PA_7,PA_8,PA_9); QEI Encoder_R(PA_6,PA_7,NC,1000,QEI::X2_ENCODING); QEI Encoder_L(PA_8,PA_9,NC,1000,QEI::X2_ENCODING); int main() { MRA.period(0.002); MRB.period(0.002); MLA.period(0.002); MLB.period(0.002); s1.period_us(20000); s2.period_us(20000); int OldEnc=0; while(1) { Encoder.mode(PullUp); //printf("%d %d\r\n",Encoder_R.getPulses(),-1*Encoder_L.getPulses()); if(Encoder_R.getPulses() < 42024) { MRA = 0.4; MLA = 0.407; } else if (Encoder_R.getPulses() >= 42024) { MRA = 0; MLA = 0; wait (1.0); s1.pulsewidth_us(1700); wait(1); /*MRA=0; MLA=0;*/ MRB=0.4; MLB=0.407; if(Encoder_R.getPulses() <= 42024-1200) { s2.pulsewidth_us(1300); MRB=0; MLB=0; wait(1); MRA=0; MLA=0; break; } } else; } }