OpenMoCo / Mbed 2 deprecated QEIx4_Example

QEIx4 Example

Dependencies:   QEIx4 mbed

Files at this revision

API Documentation at this revision

Revision 2:7c787d83331e, committed 2014-09-30

Comitter:
jocis
Date:
Tue Sep 30 12:35:07 2014 +0000
Parent:
1:d084d4165f5c
Child:
3:922c100de8cd
Commit message:
Added speed measurement; adapted to changed lib

Changed in this revision

QEIx4.lib 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 
--- a/QEIx4.lib	Tue Sep 02 18:29:18 2014 +0000
+++ b/QEIx4.lib	Tue Sep 30 12:35:07 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/OpenMoCo/code/QEIx4/#46b8d5680f66
+http://mbed.org/teams/OpenMoCo/code/QEIx4/#ac6b7b1bf6c5

--- a/main.cpp	Tue Sep 02 18:29:18 2014 +0000
+++ b/main.cpp	Tue Sep 30 12:35:07 2014 +0000
@@ -1,32 +1,52 @@
 #include "mbed.h"
 #include "QEIx4.h"
 
-DigitalOut myled(LED1);
+DigitalOut LEDalive(LED1);
+DigitalOut LEDup(LED4);
+DigitalOut LEDdown(LED3);
+
 Timer t;
 
 // ports for nxp LPC 1768
-QEIx4 qei1(p30, p29, p28);          // QEI with index signal for zeroing
-QEIx4 qei2(p27, p26, NC);           // QEI only with AB signals
-QEIx4 qei3(p25, p24, NC, false);    // QEI without interrups for polling mode
+QEIx4 qei1(p30, p29, p28, (QEIx4::EMODE)(QEIx4::IRQ | QEIx4::SPEED));          // QEI with index signal for zeroing
+QEIx4 qei2(p21, p22, NC,  QEIx4::IRQ_NO_JAMMING);           // QEI with AB signals only
+QEIx4 qei3(p25, p24, NC,  QEIx4::POLLING);    // QEI without interrups in polling mode
+
+// The callback function.
+void myCallback(int value)
+{
+    static int valueLast=-1;
 
-int main() {
+    if ( value > valueLast ) {
+        LEDup = !LEDup;
+        LEDdown = 0;
+    } else {
+        LEDdown = !LEDdown;
+        LEDup = 0;
+    }
+    valueLast=value;
+}
+
+int main()
+{
     t.start();
 
-    qei1.SetZeroOnIndex(true);      // Set the flag to zero counter on next index signal rises
+    qei1.setZeroOnIndex(true);      // set the flag to zero counter on next index signal rises
+    qei1.setSpeedFactor(1.0f);      // factor to scale from Hz (edges pe second = 4 * CPS) to user units (1.0=Hz, 1/(4*CPR)=rps, 1/(60*4*CPR)=rpm, 360/(4*CPR)=°/s, ...)
+    
+    qei3.attachCounterChange(myCallback);
 
-    while(1) 
-    {
+    while(1) {
         qei3.poll();   // poll manually without interrupt - sampling in this loop with about 2kHz
-        
-        if ( t.read_ms() > 500 )   // every half second
-        {
+
+        if ( t.read_ms() > 250 ) { // every quater second (4 Hz)
             t.reset();
             t.start();
-            myled = !myled;
-            
-            printf ( "\r\n%6d %6d %6d", (int)qei1, (int)qei2, (int)qei3 );   // print counter values
+            LEDalive = !LEDalive;
+
+            printf ( "\r\n%6d  %6d  %6d  %10.3f", (int)qei1, (int)qei2, (int)qei3, (float)qei1.getSpeed() );   // print counter values
         }
 
-    wait_us(500);   // for about 2kHz
+        wait_us(20);   // for about 50kHz polling
     }
 }

--- a/mbed.bld	Tue Sep 02 18:29:18 2014 +0000
+++ b/mbed.bld	Tue Sep 30 12:35:07 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/9327015d4013
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1
\ No newline at end of file