When I used Encoder Mode on TIM2, I have set the motor to runs in one direction, so data in the CNT register must be increase. but it seems to be decreased in sometimes.
So anyone can explain to me about it?
I'm using encoder mode TI1&TI2, Counter Mode Up.
Many thanks.
Below is my function:
#define PWM_STEP 500
int test_pwm = 20000;
void MeasureData()
{
const int N = 26; // Encoder resolution
const float pi = 3.14159;
const float R = 0.025;
HAL_TIM_Encoder_Start(&htim2,TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htim4,TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htim2,TIM_CHANNEL_2);
HAL_TIM_Encoder_Start(&htim4,TIM_CHANNEL_2);
int i;
while(test_pwm < 65500)
{
HAL_Delay(200);
__HAL_TIM_SET_COUNTER(&htim4,0);
__HAL_TIM_SET_COUNTER(&htim2,0);
for(i = 0; i < 50000; i++)
{
DodoGo(1,test_pwm,test_pwm);
DodoGo(2,0,0);
}
HAL_Delay(956);
count_1 = __HAL_TIM_GET_COUNTER(&htim2);
count_0 = __HAL_TIM_GET_COUNTER(&htim4);
//HAL_USART_Transmit(&husart2,(uint8_t*)test_pwm,32,100);
//HAL_USART_Transmit(&husart2,(uint8_t*)count,32,100);
delta_count_0 = (count_0 - pre_count_0);
delta_count_1 = (count_1 - pre_count_1);
// Update postion
pre_count_0 = count_0;
pre_count_1 = count_1;
test_pwm = test_pwm + PWM_STEP;
HAL_Delay(500);
}
}
void DodoGo(uint8_t direct,int pwm_0,int pwm_1)
{
if (direct == 0)
{
TIM1->CCR2 = pwm_0;
TIM1->CCR1 = 0;
TIM1->CCR3 = 0;
TIM1->CCR4 = pwm_1;
}
if (direct == 1)
{
TIM1->CCR1 = pwm_0;
TIM1->CCR2 = 0;
TIM1->CCR4 = 0;
TIM1->CCR3 = pwm_1;
}
if (direct == 2)
{
TIM1->CCR2 = 0;
TIM1->CCR1 = 0;
TIM1->CCR3 = 0;
TIM1->CCR4 = 0;
}
}
