Diff: main.cpp

Revision:

1:876e9cc9088b

Parent:

0:c1245c18d07e

Child:

2:8752f5af08a4

--- a/main.cpp	Mon Mar 13 21:51:12 2017 +0000
+++ b/main.cpp	Mon Mar 13 22:27:09 2017 +0000
@@ -4,18 +4,26 @@
 
 Serial pc(USBTX, USBRX);
 
-InterruptIn chA(p26);
-InterruptIn chB(p25);
-int chanA;
-int chanB;
-int currState;
-int prevState;
-int change;
+InterruptIn leftchA(p26);
+InterruptIn leftchB(p25);
+int leftChanA;
+int leftChanB;
+int leftCurrState;
+int leftPrevState;
+int leftChange;
 
+InterruptIn rightchA(p13);
+InterruptIn rightchB(p14);
+int rightChanA;
+int rightChanB;
+int rightCurrState;
+int rightPrevState;
+int rightChange;
+
+volatile int count1 = 0;
+volatile int count2 = 0;
 
 //uLCD_4GDL uLCD(p9,p10,p11);
-volatile int count1 = 0;
-//volatile int count2 = 0;
 InterruptIn pb(p21);
 DigitalOut led(LED1);
 
@@ -27,59 +35,91 @@
 4 different states
 */
 
-void encode() {
-    change = 0;
-    chanA  = chA.read();
-    chanB  = chB.read();
-    currState = (chanA << 1) | (chanB);
-    if (((currState ^ prevState) != 0x3) && (currState != prevState)) {
+void encode1() {
+    leftChange = 0;
+    leftChanA  = leftchA.read();
+    leftChanB  = leftchB.read();
+    leftCurrState = (leftChanA << 1) | (leftChanB);
+    if (((leftCurrState ^ leftPrevState) != 0x3) && (leftCurrState != leftPrevState)) {
+        // example 01 <- 11
+        // change = (11&01 = 01) ^ (01&10 = 00>>1) = 1
+        // example 10 -> 00
+        // change = (10&01 = 00) ^ (00&10 = 00>>1) = 0
+        // change = (if(left)    ^
+
+        leftChange = (leftPrevState & 0x1) ^ ((leftCurrState & 0x2) >> 1);
+        if (leftChange == 0) {
+            leftChange = -1;
+        }
+        count1 += leftChange;
+    }
+    leftPrevState = leftCurrState;
+}
+
+void encode2() {
+    rightChange = 0;
+    rightChanA  = rightchA.read();
+    rightChanB  = rightchB.read();
+    rightCurrState = (rightChanA << 1) | (rightChanB);
+    if (((rightCurrState ^ rightPrevState) != 0x3) && (rightCurrState != rightPrevState)) {
         // example 01 <- 11
         // change = (11&01 = 01) ^ (01&10 = 00>>1) = 1
         // example 10 -> 00
         // change = (10&01 = 00) ^ (00&10 = 00>>1) = 0
         // change = (if(left)    ^
 
-        change = (prevState & 0x1) ^ ((currState & 0x2) >> 1);
-        if (change == 0) {
-            change = -1;
+        rightChange = (rightPrevState & 0x1) ^ ((rightCurrState & 0x2) >> 1);
+        if (rightChange == 0) {
+            rightChange = -1;
         }
-        count1 += change;
+        count2 += rightChange;
     }
-    prevState = currState;
+    rightPrevState = rightCurrState;
 }
+
+
 void clear() {
     //uLCD.cls();
     led = !led;
 }
 
-int main() {
-    chA.mode(PullUp);
-    chB.mode(PullUp);
+void setupEncoder() {
+    leftchA.mode(PullUp);
+    leftchB.mode(PullUp);
+    rightchA.mode(PullUp);
+    rightchB.mode(PullUp);
+
+    leftChanA = leftchA.read();
+    leftChanB = leftchB.read();
+    rightChanA = rightchA.read();
+    rightChanB = rightchB.read();
 
-    chanA = chA.read();
-    chanB = chB.read();
-    currState = (chanA << 1) | (chanB);
-    prevState = currState;
-    chA.rise(&encode);
-    chA.fall(&encode);
-    chB.rise(&encode);
-    chB.fall(&encode);
+    leftCurrState = (leftChanA << 1) | (leftChanB);
+    leftPrevState = leftCurrState;
+    rightCurrState = (rightChanA << 1) | (rightChanB);
+    rightPrevState = rightCurrState;
 
+    leftchA.rise(&encode1);
+    leftchA.fall(&encode1);
+    leftchB.rise(&encode1);
+    leftchB.fall(&encode1);
 
+    rightchA.rise(&encode2);
+    rightchA.fall(&encode2);
+    rightchB.rise(&encode2);
+    rightchB.fall(&encode2);
+}
+
+int main() {
+    setupEncoder();
     pb.mode(PullUp);
     pb.fall(&clear); //pb to clear screen
     //add a pb to turn on and off pen
     //add a pot to go through colors
     //have something display current color and RGB val
     while(1) {
-        /*if(count1 < 0) {
-            pc.printf("CW \n\r");
-        } else {
-            pc.printf("CCW \n\r");
-        }*/
-
         pc.printf("count1: %d\r\n", count1);
-        pc.printf("change: %d\r\n", change);
+        pc.printf("count2: %d\r\n", count2);
         pc.printf("---------\r\n");
         wait(.1);
     }