taka yamanouchi / Mbed 2 deprecated mbed_test_enc

shashutu_test

Dependencies:   mbed QEI2

Files at this revision

API Documentation at this revision

Revision 0:753587765f3d, committed 2018-12-27

Comitter:
sink
Date:
Thu Dec 27 01:48:59 2018 +0000
Commit message:
test

Changed in this revision

QEI2.lib Show annotated file Show diff for this revision Revisions of this file
define.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI2.lib	Thu Dec 27 01:48:59 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/kikoaac/code/QEI2/#49fa8827718d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/define.h	Thu Dec 27 01:48:59 2018 +0000
@@ -0,0 +1,6 @@
+#define SB_ADRS 132
+#define INT_TIME 0.02
+#define RESOLUTION 48
+
+#define ON 0
+#define OFF 1
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 27 01:48:59 2018 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "define.h" //ステータス用
+
+Ticker timer;
+Timer T;
+
+QEI Enc1(p7,p8,NC,RESOLUTION,&T,QEI::X4_ENCODING);
+QEI Enc2(p5,p6,NC,RESOLUTION,&T,QEI::X4_ENCODING);
+DigitalIn sw(p26);
+Serial Saber(p13,p14);
+Serial pc(USBTX,USBRX);
+
+int encount1 = 0, encount2 = 0;
+float  encount_rot = 0;
+float spd1 = 0;
+
+void timer_warikomi()
+{
+    static float pre_sp1 = 0;
+    float pull_ratio = 1.0;
+    float multi = 4.0;
+    float ppr = 1.0;
+    static int cmd = 15;
+    encount1 = Enc1.getPulses();
+    encount2 = Enc2.getPulses();
+    if (encount1 > encount2) encount_rot = encount1;
+    else encount_rot = encount2;
+    
+    float rot_sp1 = encount_rot/multi/ppr*pull_ratio; 
+    spd1 = (rot_sp1 - pre_sp1)/INT_TIME/(48*4);
+        
+        if(sw == ON) cmd = 0;
+        
+        Saber.putc(SB_ADRS);
+        Saber.putc(1);
+        Saber.putc(cmd);
+        Saber.putc((SB_ADRS + 1 + cmd) & 0b01111111);
+        
+        Saber.putc(SB_ADRS);
+        Saber.putc(4);
+        Saber.putc(cmd);
+        Saber.putc((SB_ADRS + 4 + cmd) & 0b01111111);
+        pre_sp1 = rot_sp1;
+}
+
+int main() {
+    Saber.baud(115200);
+    pc.baud(9600);
+    timer.attach(timer_warikomi,INT_TIME);
+    
+    while(1) {
+    pc.printf("%d\t%d\t%f\t%f\n", encount1 , encount2, encount_rot, spd1);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Dec 27 01:48:59 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file