Diff: main.cpp

Revision:

9:c9cff697f4ab

Parent:

5:78a5043b6658

Child:

10:76dfdbdd20cd

--- a/main.cpp	Thu Sep 19 14:51:53 2019 +0000
+++ b/main.cpp	Thu Oct 03 13:05:48 2019 +0000
@@ -1,30 +1,35 @@
 #include "mbed.h"
 //#include "HIDScope.h"
-//#include "QEI.h"
+#include "QEI.h"
 #include "MODSERIAL.h"
 //#include "BiQuad.h"
 #include "FastPWM.h"
 
-PwmOut led(D3);
+DigitalOut motor1(D4);
+PwmOut e1(D5);
+PwmOut e2(D6);
+DigitalOut motor2(D7); 
+
+DigitalIn encoder1a(D12);
+DigitalIn encoder1b(D13);
 AnalogIn pot1(A1);
-AnalogIn but1(A2);
-AnalogIn but2(A3); 
-
+AnalogIn pot2(A2);
 
 MODSERIAL pc(USBTX, USBRX);
 
 int main()
 {
-    pc.baud(115200);
-    pc.printf("\r\nStarting...\r\n\r\n");
-    
+  pc.baud(115200);
+  pc.printf("\r\nStarting...\r\n\r\n");
+QEI enc1(D12,D13,NC,64,QEI::X4_ENCODING);
+  
+  while(true)
+  {
     
-    while (true) {
-        
-        
-        pc.printf("%f",pot1.read());
-        led.write(pot1.read());
-        
-        wait_ms(100);
+    pc.printf("%i   ",enc1.getPulses());
+    pc.printf("%i   ",enc1.getRevolutions());
+    pc.printf("%f\r\n",pot1.read());
+    wait_ms(100);
     }
-}
+    
+} 
\ No newline at end of file