Jorik Burghardt / Mbed 2 deprecated template_biorobotics

Motor speed controlled by potmeter

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@9:c9cff697f4ab, 2019-10-03 (annotated)

Committer:
s1932896
Date:
Thu Oct 03 13:05:48 2019 +0000
Revision:
9:c9cff697f4ab
Parent:
5:78a5043b6658
Child:
10:76dfdbdd20cd
Encoder werkend met X4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
RobertoO 0:67c50348f842 2 //#include "HIDScope.h"
s1932896 9:c9cff697f4ab 3 #include "QEI.h"
RobertoO 1:b862262a9d14 4 #include "MODSERIAL.h"
RobertoO 0:67c50348f842 5 //#include "BiQuad.h"
s1932896 5:78a5043b6658 6 #include "FastPWM.h"
RobertoO 0:67c50348f842 7
s1932896 9:c9cff697f4ab 8 DigitalOut motor1(D4);
s1932896 9:c9cff697f4ab 9 PwmOut e1(D5);
s1932896 9:c9cff697f4ab 10 PwmOut e2(D6);
s1932896 9:c9cff697f4ab 11 DigitalOut motor2(D7);
s1932896 9:c9cff697f4ab 12
s1932896 9:c9cff697f4ab 13 DigitalIn encoder1a(D12);
s1932896 9:c9cff697f4ab 14 DigitalIn encoder1b(D13);
s1932896 5:78a5043b6658 15 AnalogIn pot1(A1);
s1932896 9:c9cff697f4ab 16 AnalogIn pot2(A2);
RobertoO 0:67c50348f842 17
RobertoO 1:b862262a9d14 18 MODSERIAL pc(USBTX, USBRX);
RobertoO 0:67c50348f842 19
RobertoO 0:67c50348f842 20 int main()
RobertoO 0:67c50348f842 21 {
s1932896 9:c9cff697f4ab 22 pc.baud(115200);
s1932896 9:c9cff697f4ab 23 pc.printf("\r\nStarting...\r\n\r\n");
s1932896 9:c9cff697f4ab 24 QEI enc1(D12,D13,NC,64,QEI::X4_ENCODING);
s1932896 9:c9cff697f4ab 25
s1932896 9:c9cff697f4ab 26 while(true)
s1932896 9:c9cff697f4ab 27 {
s1932896 5:78a5043b6658 28
s1932896 9:c9cff697f4ab 29 pc.printf("%i ",enc1.getPulses());
s1932896 9:c9cff697f4ab 30 pc.printf("%i ",enc1.getRevolutions());
s1932896 9:c9cff697f4ab 31 pc.printf("%f\r\n",pot1.read());
s1932896 9:c9cff697f4ab 32 wait_ms(100);
RobertoO 0:67c50348f842 33 }
s1932896 9:c9cff697f4ab 34
s1932896 9:c9cff697f4ab 35 }