Diff: main.cpp

Revision:

0:72dfed48bbcd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 27 02:15:35 2014 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "common.h" 
+#include "Encoder_dspic33f.h"
+
+using namespace std;
+ 
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+Serial pc(USBTX, USBRX);
+
+// dspic Encoder 
+const int enc_resolution = 10000 ;
+const int address = 0x18 ;
+Encoder_dspic33f encoder(p9, p10, enc_resolution, address);
+Ticker printer;
+
+int extractInt(char *buf)
+{
+    char tmp[10];
+    int tmpInt;
+    strcpy(tmp, buf+1), 
+    
+    tmpInt =atof(tmp);    
+    return tmpInt;
+}
+
+void printdata()
+{
+    toggle(led2);
+    double data[2];   
+    encoder.read(data);  
+    pc.printf("Data Read: %f | %f \r", toDegrees(data[0]), toDegrees(data[1]));   
+}
+ 
+ 
+int main() 
+{ 
+    char cmd[10];
+    int i = 0;
+    pc.baud(115200);  
+    
+    pc.printf("\r\n\r\n\r\n");
+    pc.printf("Shalab - Tutorial004_dspic33fI2cCom\r\n");   
+    encoder.set_resolution(enc_resolution); 
+    encoder.reset();
+    pc.printf("Command list:\r\n"
+              "r: reset encoder\r\n"
+              "e: set encoder resolution, usage: e1024\r\n"
+              "p: print encoder values\r\n");
+    wait(1); 
+    while(1) { 
+        toggle(led1);
+        ++i; 
+        pc.printf("[%3d]Enter command: ",i); 
+        pc.scanf("%s", &cmd);
+        
+        switch (cmd[0]){
+            case 'r': {
+                pc.printf("Reset encoder\r\n"); 
+                encoder.reset();
+                break;}
+            case 'p': { // print data until enter interrupt
+                pc.printf("Reading encoder\r\n"); 
+                wait(0.5);
+                printer.attach(&printdata, 0.05);           
+                pc.getc();
+                pc.printf("Stopping Printing\r\n"); 
+                printer.detach();
+                
+                break;}
+            case 'e':{ 
+                int enc_resolution;
+                 
+                enc_resolution = extractInt(cmd);
+                pc.printf("Set encoder resolution: %d\r\n", enc_resolution); 
+                encoder.set_resolution(enc_resolution); 
+                break;}
+            default:
+                break;
+        }   
+    }
+} 
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