Joseph Bradshaw
ES410 Simple Speed Measurement
mbed_ES410_simpleSpeedMeasurement.cpp@0:f8cf3c133d6a, 2016-05-23 (annotated)
- Committer:
- jebradshaw
- Date:
- Mon May 23 19:01:51 2016 +0000
- Revision:
- 0:f8cf3c133d6a
ES410 simple speed measurement program
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jebradshaw | 0:f8cf3c133d6a | 1 | #include "mbed.h" |
| jebradshaw | 0:f8cf3c133d6a | 2 | #include "MotCon.h" |
| jebradshaw | 0:f8cf3c133d6a | 3 | #include "QEI.h" |
| jebradshaw | 0:f8cf3c133d6a | 4 | |
| jebradshaw | 0:f8cf3c133d6a | 5 | QEI enc1(p24,p23,NC,800, QEI::X4_ENCODING); //Global Motor 800 cpr w x4 encoding |
| jebradshaw | 0:f8cf3c133d6a | 6 | MotCon motor(p26, p28); //pwm output, direction |
| jebradshaw | 0:f8cf3c133d6a | 7 | |
| jebradshaw | 0:f8cf3c133d6a | 8 | int main() { |
| jebradshaw | 0:f8cf3c133d6a | 9 | long e[210]; // vector to save encoder readings |
| jebradshaw | 0:f8cf3c133d6a | 10 | int k; |
| jebradshaw | 0:f8cf3c133d6a | 11 | |
| jebradshaw | 0:f8cf3c133d6a | 12 | motor.mot_control(0.5); // sets motor voltage duty cucle, example 25% (12*0.25=3 V) |
| jebradshaw | 0:f8cf3c133d6a | 13 | |
| jebradshaw | 0:f8cf3c133d6a | 14 | for(k=1;k<=100;k++){ // take x=100 readings |
| jebradshaw | 0:f8cf3c133d6a | 15 | e[k]=enc1.getPulses(); // read the encoder |
| jebradshaw | 0:f8cf3c133d6a | 16 | wait(.050); // wait x=50 ms between the readings |
| jebradshaw | 0:f8cf3c133d6a | 17 | } |
| jebradshaw | 0:f8cf3c133d6a | 18 | motor.mot_control(0.0); |
| jebradshaw | 0:f8cf3c133d6a | 19 | for(k=1;k<=100;k++){ // print readings to screen so you can import to MATLAB |
| jebradshaw | 0:f8cf3c133d6a | 20 | printf("%d\r\n",e[k]); |
| jebradshaw | 0:f8cf3c133d6a | 21 | } |
| jebradshaw | 0:f8cf3c133d6a | 22 | }//main |