Programme d'utilisation des AX12 et de l'MX12 V3. 0C = action de l'MX12. (data0) 0 | 1 | 2 = position & sens de rotation
Dependencies: MX12
Fork of Utilisatio_MX12_V3 by
FunctionPointer.h
00001 /* mbed Microcontroller Library - FunctionPointer 00002 * Copyright (c) 2007-2009 ARM Limited. All rights reserved. 00003 */ 00004 00005 #ifndef MBED_FUNCTIONPOINTER_H 00006 #define MBED_FUNCTIONPOINTER_H 00007 00008 #include <string.h> 00009 00010 namespace mbed { 00011 00012 /* Class FunctionPointer 00013 * A class for storing and calling a pointer to a static or member void function 00014 */ 00015 class FunctionPointer { 00016 00017 public: 00018 00019 /* Constructor FunctionPointer 00020 * Create a FunctionPointer, attaching a static function 00021 * 00022 * Variables 00023 * function - The void static function to attach (default is none) 00024 */ 00025 FunctionPointer(void (*function)(void) = 0); 00026 00027 /* Constructor FunctionPointer 00028 * Create a FunctionPointer, attaching a member function 00029 * 00030 * Variables 00031 * object - The object pointer to invoke the member function on (i.e. the this pointer) 00032 * function - The address of the void member function to attach 00033 */ 00034 template<typename T> 00035 FunctionPointer(T *object, void (T::*member)(void)) { 00036 attach(object, member); 00037 } 00038 00039 /* Function attach 00040 * Attach a static function 00041 * 00042 * Variables 00043 * function - The void static function to attach (default is none) 00044 */ 00045 void attach(void (*function)(void) = 0); 00046 00047 /* Function attach 00048 * Attach a member function 00049 * 00050 * Variables 00051 * object - The object pointer to invoke the member function on (i.e. the this pointer) 00052 * function - The address of the void member function to attach 00053 */ 00054 template<typename T> 00055 void attach(T *object, void (T::*member)(void)) { 00056 _object = static_cast<void*>(object); 00057 memcpy(_member, (char*)&member, sizeof(member)); 00058 _membercaller = &FunctionPointer::membercaller<T>; 00059 _function = 0; 00060 } 00061 00062 /* Function call 00063 * Call the attached static or member function 00064 */ 00065 void call(); 00066 00067 private: 00068 00069 template<typename T> 00070 static void membercaller(void *object, char *member) { 00071 T* o = static_cast<T*>(object); 00072 void (T::*m)(void); 00073 memcpy((char*)&m, member, sizeof(m)); 00074 (o->*m)(); 00075 } 00076 00077 void (*_function)(void); // static function pointer - 0 if none attached 00078 void *_object; // object this pointer - 0 if none attached 00079 char _member[16]; // raw member function pointer storage - converted back by registered _membercaller 00080 void (*_membercaller)(void*, char*); // registered membercaller function to convert back and call _member on _object 00081 00082 }; 00083 00084 } // namespace mbed 00085 00086 #endif
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