编码器一般有两种分别为霍尔编码器和光电编码器
使用的时候调用两个函数
void QDM_SampleM(void)
{
while (1) {
unsigned int ret, ret1;
int speedright, speedleft;
HAL_QDM_ReadPosCountAndDir(&g_qdm0, &ret, &ret1);
DBG_PRINTF("speedright ret = %d, ret1 =%d\r\n", ret, ret1);
speedright = HAL_QDM_GetSpeedRpmM(&g_qdm0); /* get speed */
DBG_PRINTF("speedright speed: %d\r\n", speedright);
speedleft = HAL_QDM_GetSpeedRpmM(&g_qdm1); /* get speed */
DBG_PRINTF("speedleft speed: %d\r\n", speedleft);
BASE_FUNC_DELAY_MS(1000);
}
}