rc_test_encoders_eqep.c

/*
 * @file rc_test_encoders_eqep.c
 *
 * @example    rc_test_encoders_eqep
 *
 * Prints out current quadrature position for channels 1-3 which are counted
 * using the eQEP modules. Channel 4 is counted by the PRU, test that with
 * rc_test_encoders_pru instead.
 */
 
#include <stdio.h>
#include <signal.h>
#include <rc/encoder_eqep.h>
#include <rc/time.h>
 
static int running = 0;
 
// interrupt handler to catch ctrl-c
static void __signal_handler(__attribute__ ((unused)) int dummy)
{
        running=0;
        return;
}
 
int main()
{
        int i;
 
        // initialize hardware first
        if(rc_encoder_eqep_init()){
                fprintf(stderr,"ERROR: failed to run rc_encoder_eqep_init\n");
                return -1;
        }
 
        // set signal handler so the loop can exit cleanly
        signal(SIGINT, __signal_handler);
        running=1;
 
        printf("\nRaw encoder positions\n");
        printf("      E1   |");
        printf("      E2   |");
        printf("      E3   |");
        printf(" \n");
 
        while(running){
                printf("\r");
                for(i=1;i<=3;i++){
                        printf("%10d |", rc_encoder_eqep_read(i));
                }
                fflush(stdout);
                rc_usleep(50000);
        }
        printf("\n");
 
        rc_encoder_eqep_cleanup();
        return 0;
}