mo mo / Mbed 2 deprecated F3RC2019_AUTO_1

koko

Dependencies:   mbed QEI

Files at this revision

API Documentation at this revision

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

QEI.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /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