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23 lines
664 B
23 lines
664 B
#include "encoder.h"
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#include <stdio.h>
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static int Direction;
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static int CaptureNumber;
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void encoder_start(void)
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{
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/* 不开启会导致程序无法启动，原因位置 */
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HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
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}
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void encoder_read_printf(void)
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{
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Direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim4); // 读取电机转动方向
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CaptureNumber = (short)__HAL_TIM_GET_COUNTER(&htim4); // 读取编码器数据
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__HAL_TIM_GET_COUNTER(&htim4) = 0; // 计数器值重新置位
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if (CaptureNumber != 0)
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{
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printf("Direction is %d,CaptureNumber is %d\r\n", Direction, CaptureNumber);
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}
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}
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