From cdcf3a2f9de849364049dc9fe50e38cdd3e52dcf Mon Sep 17 00:00:00 2001 From: Arnaud Vergnet Date: Mon, 9 Nov 2020 10:01:18 +0100 Subject: [PATCH] add encoder config --- Src/Sail.c | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/Src/Sail.c b/Src/Sail.c index 76c5198..5b0ae95 100644 --- a/Src/Sail.c +++ b/Src/Sail.c @@ -1,14 +1,20 @@ #include "Sail.h" #include "ServoMotor.h" +#include "IncrementalEncoder.h" -TIM_TypeDef * SAIL_TIMER = TIM4; -const int SAIL_CHANNEL = LL_TIM_CHANNEL_CH3; -GPIO_TypeDef * SAIL_GPIO = GPIOB; -const int SAIL_PIN = LL_GPIO_PIN_8; +TIM_TypeDef * MOTOR_TIMER = TIM4; +const int MOTOR_CHANNEL = LL_TIM_CHANNEL_CH3; +GPIO_TypeDef * MOTOR_GPIO = GPIOB; +const int MOTOR_PIN = LL_GPIO_PIN_8; + +TIM_TypeDef * ENCODER_TIMER = TIM3; +GPIO_TypeDef * ENCODER_GPIO = GPIOA; +const int ENCODER_PIN = LL_GPIO_PIN_5; void Sail_conf() { - ServoMotor_conf(SAIL_TIMER, SAIL_CHANNEL, SAIL_GPIO, SAIL_PIN); + ServoMotor_conf(MOTOR_TIMER, MOTOR_CHANNEL, MOTOR_GPIO, MOTOR_PIN); + IncrementalEncoder_conf(ENCODER_TIMER, ENCODER_GPIO, ENCODER_PIN); } void Sail_background() @@ -24,5 +30,6 @@ void Sail_reset() void Sail_start() { - Timer_start(SAIL_TIMER); + Timer_start(MOTOR_TIMER); + Timer_start(ENCODER_TIMER); }