Diff: main.cpp

Revision:

2:712ceeae4f56

Parent:

0:e43878690c0e

Child:

3:5edd4d529cfd

--- a/main.cpp	Mon Nov 11 07:52:43 2019 +0000
+++ b/main.cpp	Tue Nov 12 07:17:38 2019 +0000
@@ -25,6 +25,7 @@
 
 #include "mbed.h"
 #include "USBJoystick.h"
+#include "QEI.h"
 
 //#define LANDTIGER 1
 
@@ -40,6 +41,9 @@
 Ticker heartbeat;
 Serial pc(USBTX, USBRX); // tx, rx
 
+//Use X4 encoding.
+QEI wheel(PA_6, PA_7, NC, 30, QEI::X4_ENCODING);
+
 // Heartbeat monitor
 void pulse() {
   heartbeatLED = !heartbeatLED;
@@ -98,9 +102,10 @@
 #endif        
     i++;        
         
-    x = cos((double)angle*3.14/180.0)*radius;  // value -127 .. 128
-    y = sin((double)angle*3.14/180.0)*radius;  // value -127 .. 128
-    angle += 3;        
+    //x = cos((double)angle*3.14/180.0)*radius;  // value -127 .. 128
+    //y = sin((double)angle*3.14/180.0)*radius;  // value -127 .. 128
+    //angle += 3;
+    x = wheel.getPulses();
 
     joystick.update(throttle, rudder, x, y, buttons, hat);
     wait(0.001);