Lab13: การวัด Position Encoder

จะใช้ Code นี้ได้ต้อง Copy QEI Lib เข้าไปไว้ใน 18F2431, 18F4431, 18F2331, 18F4331 แล้วแต่ว่าใช้เบอร์ไหน

#include <18F2431.h>

 #use delay(clock=20000000)

#fuses HS,PUT,BROWNOUT,MCLR,NOWDT,NOPROTECT,NOLVP

#define  TxD         PIN_C6  

#define  RxD         PIN_C7  

#use rs232(baud=115200, xmit=TxD,rcv=RxD)

void main()

{

   POSCNT = 0;

   MAXCNT = 0xFFFF;

   QEICON = 24;         // quad in x4 mode, resettable by maxcount

   enable_interrupts(GLOBAL);               

   enable_interrupts(INT_IC2QEI);

   while(true)

   {

printf("%lu\r\n", POSCNT);

}

}

Lab14: การวัด Velocity Encoder

#include <18F2431.h>

 #use delay(clock=20000000)

#fuses HS,PUT,BROWNOUT,MCLR,NOWDT,NOPROTECT,NOLVP

#define  TxD         PIN_C6  

#define  RxD         PIN_C7  

#use rs232(baud=115200, xmit=TxD,rcv=RxD)

void main()

{

   int16 pos1,pos2;

   float time;

   float Vel;

   POSCNT = 0;

   MAXCNT = 0xFFFF;

   QEICON = 24;         

   enable_interrupts(GLOBAL);               

   enable_interrupts(INT_IC2QEI);

  setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);

   while(true)

   {

set_timer1(0);

pos1 = POSCNT;

printf("%.3f\r\n", Vel);

pos2 = POSCNT;

time = get_timer1();

time = time*8*0.0000002;

  if(pos2>pos1){

      Vel = (float)(pos2 - pos1)/time;

       }

      else{

       Vel = (float)(pos1 - pos2)/time;

      }

}

}