encoder.cpp

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <iostream>
#include <string.h>

#include <wiringPi.h>
#include <wiringPiSPI.h>

using namespace std;

unsigned char rawData[4];
const int len = 32;

int main(int argc, char const *argv[])
{   
   
    if (wiringPiSetup() == -1) {
        printf("WiringPiSetup failed\n");
        exit(EXIT_FAILURE);
    }

    //memset(rawData,0x33,8);
    rawData[0]=0x0F;
    rawData[7]=0x0F;
    int fd = wiringPiSPISetup(0, 500000);

    //for (int i=0; i<8; i++){
          // printf("%d", rawData[i]); 
        //}

    while(1) { 
        int result = wiringPiSPIDataRW(0, rawData, len);
        //printf("speed\n");
        
        printf("\r%02X %02X %02X %02X", rawData[0], rawData[1], rawData[2], rawData[3]); 
        fflush(stdout);
        
        
        delay(500);
    }
       
    return 0;
    
    
    

    
/*
    pinMode(ENC_PIN_1A, INPUT);
    pinMode(ENC_PIN_1B, INPUT);
    pinMode(ENC_PIN_2A, INPUT);
    pinMode(ENC_PIN_2B, INPUT);
*/
}