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;


    }
}