Department of Electrical Eng University of Moratuwa
encoder read old ways
Dependencies: mbed QEI_hw SDFileSystem_Sherckuith FATFileSystem rtos
Revision 0:d3d96129e821, committed 2019-08-01
- Comitter:
- eembed
- Date:
- Thu Aug 01 07:49:56 2019 +0000
- Child:
- 1:4e2dc947ca3c
- Commit message:
- first commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FATFileSystem.lib Thu Aug 01 07:49:56 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/carlos_nascimento08/code/FATFileSystem/#5fe35852ace9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI_hw.lib Thu Aug 01 07:49:56 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/hexley/code/QEI_hw/#53f8ae2cf502
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem_Sherckuith.lib Thu Aug 01 07:49:56 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/apm_litoral/code/SDFileSystem_Sherckuith/#b65664229800
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 01 07:49:56 2019 +0000
@@ -0,0 +1,89 @@
+#include "mbed.h"
+#include "qeihw.h"
+
+QEIHW qei_m(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_2X, QEI_INVINX_NONE );
+int dt_us=150;
+ float send_m_angle = 0.0;
+ float inc = 0;
+ int32_t temp, position = 0;
+
+DigitalIn safety_14(p14);
+DigitalIn safety_15(p13);
+DigitalOut myled(LED1);
+DigitalOut myled3(LED3);
+DigitalIn safety_5(p5);
+DigitalIn safety_6(p6);
+DigitalIn safety_7(p7);
+DigitalIn safety_8(p8);
+DigitalIn safety_9(p9);
+DigitalIn safety_10(p10);
+DigitalIn safety_11(p15);
+DigitalIn safety_12(p12);
+DigitalIn safety_13(p11);
+DigitalIn safety_16(p16);
+DigitalIn safety_17(p17);
+DigitalIn safety_18(p18);
+DigitalIn safety_19(p19);
+DigitalIn safety_20(p20);
+DigitalIn safety_21(p21);
+DigitalIn safety_22(p22);
+DigitalIn safety_23(p23);
+DigitalIn safety_24(p24);
+DigitalIn safety_25(p25);
+DigitalIn safety_26(p26);
+DigitalIn safety_27(p27);
+DigitalIn safety_28(p28);
+DigitalIn safety_29(p29);
+DigitalIn safety_30(p30);
+
+Ethernet eth;
+Ticker ticker;
+
+// Encoder Constants
+float const encoder_pulses_m = 10000.0;
+#define PI 3.141592653
+
+
+void send(void)
+{
+ inc++;
+ position = qei_m.GetPosition();
+ send_m_angle = position * 2.0 * PI / encoder_pulses_m;
+ eth.write((char *)&send_m_angle, sizeof(send_m_angle));
+ //eth.write((char *)&inc, sizeof(inc));
+ myled3 = !myled3;
+ eth.send();
+ // wait_us(10);
+ // return 0;
+}
+
+int main()
+{
+ eth.set_link(Ethernet::HalfDuplex100);
+ wait_ms(1000); // Needed after startup.
+
+ if(eth.link())
+ {
+ myled = 1;
+ } else
+ {
+ myled = 0;
+ }
+
+ int32_t temp, position = 0;
+ qei_m.SetDigiFilter(480UL);
+ qei_m.SetMaxPosition(0xFFFFFFFF);
+
+ ticker.attach_us(&send, dt_us);
+//ticker.attach_us(&Control_body, dt_us);
+/* while(1) {
+ inc++;
+ position = qei_m.GetPosition();
+ send_m_angle = position * 2.0 * PI / encoder_pulses_m;
+ eth.write((char *)&send_m_angle, sizeof(send_m_angle));
+ //eth.write((char *)&inc, sizeof(inc));
+ myled3 = !myled3;
+ eth.send();
+ wait_us(10);
+ } */
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Aug 01 07:49:56 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ed12d17f06 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtos.lib Thu Aug 01 07:49:56 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/narshu/code/rtos/#b270f864114f