The Karmans / Mbed 2 deprecated MOtoreDC

voglio anche acquisire dall' encoder

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 1:266fc31c687d, committed 2016-04-30

Comitter:
capriele
Date:
Sat Apr 30 13:37:03 2016 +0000
Parent:
0:e0090efd109d
Commit message:
Conto impulsi

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sat Apr 30 13:27:08 2016 +0000
+++ b/main.cpp	Sat Apr 30 13:37:03 2016 +0000
@@ -3,24 +3,26 @@
 PwmOut motor1(PWM_OUT);
 //Serial encoder(D0,D1);
 //DigitalIn encoder(D0);
-
+int impulsi = 0;
+int numero_tick = 64;//numero di tacche nell encoder
 Timer period;
 
 InterruptIn encoder(D0); // serve per avviare il timer che conterà il tempo
 
-float stopandreset()
+void stopandreset()
 {
-    float T = period.read_ms();
-    period.stop();
-    period.reset();    
-    return T;
+    impulsi++;
+    //float T = period.read_ms();
+    //period.stop();
+    //period.reset();    
+    //return T;
 }
     
 
 int main() 
 {
-    encoder.rise(&period.start); 
-    float T = encoder.fall(&stopandreset);
+    encoder.rise(&stopandreset); 
+    //float T = encoder.fall(&stopandreset);
     
     motor1.period_ms(10);
     float val = 0.6;
@@ -28,8 +30,8 @@
     
     while(true)
     {
-
-        int v = encoder.read();
+        float gradi = ((float)impulsi) / ((float)numero_tick) * 360.0f;
+        //int v = encoder.read();