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koko
Revision 0:5b4d5f6c4a68, committed 2019-09-15
- Comitter:
- imoha
- Date:
- Sun Sep 15 06:22:57 2019 +0000
- Commit message:
- uu;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Sun Sep 15 06:22:57 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Sep 15 06:22:57 2019 +0000 @@ -0,0 +1,71 @@ +#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; + + + } +} \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Sep 15 06:22:57 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file