kouhei umezawa / Mbed 2 deprecated 2022_NHK_B_UK

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Dependencies:   HOSOKIkikou FEP_RX22 QEI R1370 ikarashiMDC_2byte_ver mbed 2022_NHK_B_canTR PID SEKIkikou

Diff: main.cpp

Revision:
3:75dae8deb5f3
Parent:
2:ea17f9e04972
Child:
4:3c04f88a8cd8
diff -r ea17f9e04972 -r 75dae8deb5f3 main.cpp
--- a/main.cpp	Fri Sep 30 05:31:57 2022 +0000
+++ b/main.cpp	Fri Sep 30 06:28:25 2022 +0000
@@ -2,10 +2,15 @@
 #include "controller.h"
 #include "pinconfig.h"
 #include "ikarashiMDC.h"
+#include "QEI.h"
 
 Bcon mycon(fepTX, fepRX, fepad);
 Serial pc(USBTX, USBRX, 115200);
 Serial serial(motorTX, motorRX, 115200);
+QEI enc1(encoder1_A, encoder1_B, NC, 100, QEI::X4_ENCODING);
+QEI enc2(encoder2_A, encoder2_B, NC, 100, QEI::X4_ENCODING);
+QEI enc3(encoder3_A, encoder3_B, NC, 100, QEI::X4_ENCODING);
+QEI enc4(encoder4_A, encoder4_B, NC, 100, QEI::X4_ENCODING);
 DigitalOut stop(stop_pin);
 DigitalOut led(LED2);
 
@@ -13,7 +18,15 @@
     ikarashiMDC(0,0,SM,&serial),
     ikarashiMDC(0,1,SM,&serial),
     ikarashiMDC(0,2,SM,&serial),
-    ikarashiMDC(0,3,SM,&serial)
+    ikarashiMDC(0,3,SM,&serial),
+    ikarashiMDC(1,0,SM,&serial),
+    ikarashiMDC(1,1,SM,&serial),
+    ikarashiMDC(1,2,SM,&serial),
+    ikarashiMDC(1,3,SM,&serial),
+    ikarashiMDC(2,0,SM,&serial),
+    ikarashiMDC(2,1,SM,&serial),
+    ikarashiMDC(2,2,SM,&serial),
+    ikarashiMDC(2,3,SM,&serial)
 };
 
 uint8_t b[8];