Diff: main.cpp

Revision:

0:e814f5861f7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 28 05:04:23 2015 +0000
@@ -0,0 +1,43 @@
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX);
+Ticker serial_time;
+DigitalIn encoderA(p19);
+DigitalIn encoderB(p18);
+
+int AB = 0;
+int pre_AB = 0;
+int count = 0;
+double deg = 0;
+
+void output(){
+ pc.printf("count = %d\ndistance = %.1lf\nAB = %d", count, deg, AB);
+ }
+ 
+int main() {
+    serial_time.attach(&output, 1.0);
+    while(1) {
+        AB = 00;
+        if(encoderA) AB += 10;
+        if(encoderB) AB += 01;
+        
+        if(AB == 00){
+            if(pre_AB == 10)    count++;
+            if(pre_AB == 01)    count--;
+        }
+        if(AB == 01){
+            if(pre_AB == 00)    count++;
+            if(pre_AB == 11)    count--;
+        }
+        if(AB == 10){
+            if(pre_AB == 11)    count++;
+            if(pre_AB == 00)    count--;
+        }
+        if(AB == 11){
+            if(pre_AB == 01)    count++;
+            if(pre_AB == 10)    count--;
+        }
+        deg = (double)count * 0.25;
+        pre_AB = AB;
+    }
+}
\ No newline at end of file