Carte esclave gros robot
Dependencies: mbed Herkulex_Library_2019 ident_crac actions_Pr
Diff: Capteurs/dt.cpp
- Revision:
- 10:48c0d1b8aed9
- Parent:
- 9:9833e788942b
- Child:
- 25:9627700d989f
--- a/Capteurs/dt.cpp Fri May 17 10:39:09 2019 +0000 +++ b/Capteurs/dt.cpp Sat May 18 12:07:01 2019 +0000 @@ -7,10 +7,10 @@ AnalogIn DT3(PC_4); AnalogIn DT4(PA_5); -DigitalIn DT1_isr(PB_1); -DigitalIn DT2_isr(PA_7); -DigitalIn DT3_isr(PA_6); -DigitalIn DT4_isr(PA_4); +InterruptIn DT1_isr(PB_1); +InterruptIn DT2_isr(PA_7); +InterruptIn DT3_isr(PA_6); +InterruptIn DT4_isr(PA_4); Timer t; @@ -30,6 +30,11 @@ double DT4_trait[256]= {0}; double DT4_trait_Ex; +bool DT1_interrupt_Ex; +bool DT2_interrupt_Ex; +bool DT3_interrupt_Ex; +bool DT4_interrupt_Ex; + unsigned char n = 0; bool flag_t=0; @@ -92,3 +97,13 @@ } } } + +void interrupt() +{ + DT1_interrupt_Ex = DT1_isr.read(); + DT2_interrupt_Ex = DT2_isr.read(); + DT3_interrupt_Ex = DT3_isr.read(); + DT4_interrupt_Ex = DT4_isr.read(); +} + +