Diff: main.cpp

Revision:

2:2ae29a54a3de

Parent:

0:912303e63cbd

diff -r d6a8c89250fa -r 2ae29a54a3de main.cpp
--- a/main.cpp	Wed Jun 07 13:46:53 2017 +0000
+++ b/main.cpp	Thu Dec 06 13:49:38 2018 +0000
@@ -1,23 +1,81 @@
 #include "mbed.h"
- 
-InterruptIn mybutton(USER_BUTTON);
-DigitalOut myled(LED1);
- 
-float delay = 1.0; // 1 sec
- 
-void pressed()
+/*
+Pinlayout of encoder
+Pin_encoder Pin_nucleo  Color   Assesment
+1           5V          white   GND
+2           GND         brown   UB
+3           A0          green   A+
+4           -           yellow  A-
+5           A1          grey    B+
+6           -           pink    B-
+7           A2          blue    R+
+8           -           red     R-
+
+*/
+/************************
+    CONNECTED PINS
+************************/
+InterruptIn encoderA(A0);
+//InterruptIn encoderB(A1);
+InterruptIn encoderR(A2);
+DigitalIn encoderB_state(A1);
+
+//Serial connection via USB.
+Serial serial(SERIAL_TX, SERIAL_RX);
+
+/************************
+    GLOBAL VARIABLES
+************************/
+float delay = 0.02;         // 50Hz the encoder values are sent.
+int pos = 0;                // Position of the encoder.
+bool refference_puls = 0;   // When the refference pulse is reached, a different message is sent to the UDO NEO FULL
+
+/************************
+    FUNCTIONS
+************************/
+//Encoder interrupt A 
+void encAInterrupt()
 {
-    if (delay == 1.0)
-        delay = 0.2; // 200 ms
-    else
-        delay = 1.0; // 1 sec
+    if (encoderB_state) pos++; //myled = true; }
+    else                pos--; //myled = false; }
+}
+
+//Encoder interrupt B
+//This will later be implemented
+void encBInterrupt()
+{
+    //To be implemented.
 }
- 
+
+//Encoder refference interrupt R
+void encRInterrupt()
+{
+    pos=0;
+    refference_puls = 1;
+}
+
+/************************
+    MAIN PROGRAM
+************************/
 int main()
 {
-    mybutton.fall(&pressed);
+    //Encoder interrupts
+    encoderA.fall(&encAInterrupt);
+    //encoderB.fall(&encBInterrupt);
+    encoderR.fall(&encRInterrupt);
+    
+    //Serial parameters (baudrate=9600, 8-bits, no parity, 1 stopbit)
+    serial.baud(9600);
+    serial.format(8,Serial::None,1);
+    
     while (1) {
-        myled = !myled;
-        wait(delay);
+        //When the refference puls is detected.
+        if (refference_puls) {
+            serial.printf("%d:",pos);   //position with ':' instead of ';' means the calibration point is met.
+            refference_puls = false;
+        } else {
+            serial.printf("%d;",pos);
+        }
+        wait(delay);                    //Wait, because the UDO NEO FULL is not as fast as this board.
     }
 }