encoder.cpp

/*
  エンコーダ出力の観測
  Satofumi KAMIMURA
  $Id$
*/

#include "runCtrl.h"
#include <stdio.h>
#include <stdlib.h>


int main(int argc, char *argv[]) {
  RunCtrl run;
  if (run.connect(argc, argv) < 0) {
    printf("RunCtrl::connect: %s\n", run.what());
    exit(1);
  }

  unsigned long pre = VXV::GetTicks();
  for (int i = 0; i < 20; ++i) {
    int enc_vel;
    //for (int j = 0; j < 2; ++j) {
    //run.setMotorMode(0, 0);
    //run.setMotorPwm(0, 0);
    //run.getEncoderVel(0, &enc_vel);
    //}

    unsigned long now = VXV::GetTicks();
    long diff = now - pre;
    printf("enc_vel: %d, ticks: %lu (%ld)\n", enc_vel, now, diff);
    pre = now;
    VXV::Delay(1000);
  }

  return 0;
}