code ax12 petit robot 12/05/2017
Fork of command_AX12_petit_robot_V3 by
mbed/Ticker.h@7:ad4a19e26b84, 2017-05-12 (annotated)
- Committer:
- ClementBreteau
- Date:
- Fri May 12 14:35:09 2017 +0000
- Revision:
- 7:ad4a19e26b84
- Parent:
- 2:99b1cb0d9f5e
position ax12
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
SquirrelGod | 2:99b1cb0d9f5e | 1 | /* mbed Microcontroller Library - Ticker |
SquirrelGod | 2:99b1cb0d9f5e | 2 | * Copyright (c) 2007-2009 ARM Limited. All rights reserved. |
SquirrelGod | 2:99b1cb0d9f5e | 3 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 4 | |
SquirrelGod | 2:99b1cb0d9f5e | 5 | #ifndef MBED_TICKER_H |
SquirrelGod | 2:99b1cb0d9f5e | 6 | #define MBED_TICKER_H |
SquirrelGod | 2:99b1cb0d9f5e | 7 | |
SquirrelGod | 2:99b1cb0d9f5e | 8 | #include "TimerEvent.h" |
SquirrelGod | 2:99b1cb0d9f5e | 9 | #include "FunctionPointer.h" |
SquirrelGod | 2:99b1cb0d9f5e | 10 | |
SquirrelGod | 2:99b1cb0d9f5e | 11 | namespace mbed { |
SquirrelGod | 2:99b1cb0d9f5e | 12 | |
SquirrelGod | 2:99b1cb0d9f5e | 13 | /* Class: Ticker |
SquirrelGod | 2:99b1cb0d9f5e | 14 | * A Ticker is used to call a function at a recurring interval |
SquirrelGod | 2:99b1cb0d9f5e | 15 | * |
SquirrelGod | 2:99b1cb0d9f5e | 16 | * You can use as many seperate Ticker objects as you require. |
SquirrelGod | 2:99b1cb0d9f5e | 17 | * |
SquirrelGod | 2:99b1cb0d9f5e | 18 | * Example: |
SquirrelGod | 2:99b1cb0d9f5e | 19 | * > // Toggle the blinking led after 5 seconds |
SquirrelGod | 2:99b1cb0d9f5e | 20 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 21 | * > #include "mbed.h" |
SquirrelGod | 2:99b1cb0d9f5e | 22 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 23 | * > Ticker timer; |
SquirrelGod | 2:99b1cb0d9f5e | 24 | * > DigitalOut led1(LED1); |
SquirrelGod | 2:99b1cb0d9f5e | 25 | * > DigitalOut led2(LED2); |
SquirrelGod | 2:99b1cb0d9f5e | 26 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 27 | * > int flip = 0; |
SquirrelGod | 2:99b1cb0d9f5e | 28 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 29 | * > void attime() { |
SquirrelGod | 2:99b1cb0d9f5e | 30 | * > flip = !flip; |
SquirrelGod | 2:99b1cb0d9f5e | 31 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 32 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 33 | * > int main() { |
SquirrelGod | 2:99b1cb0d9f5e | 34 | * > timer.attach(&attime, 5); |
SquirrelGod | 2:99b1cb0d9f5e | 35 | * > while(1) { |
SquirrelGod | 2:99b1cb0d9f5e | 36 | * > if(flip == 0) { |
SquirrelGod | 2:99b1cb0d9f5e | 37 | * > led1 = !led1; |
SquirrelGod | 2:99b1cb0d9f5e | 38 | * > } else { |
SquirrelGod | 2:99b1cb0d9f5e | 39 | * > led2 = !led2; |
SquirrelGod | 2:99b1cb0d9f5e | 40 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 41 | * > wait(0.2); |
SquirrelGod | 2:99b1cb0d9f5e | 42 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 43 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 44 | * |
SquirrelGod | 2:99b1cb0d9f5e | 45 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 46 | class Ticker : public TimerEvent { |
SquirrelGod | 2:99b1cb0d9f5e | 47 | |
SquirrelGod | 2:99b1cb0d9f5e | 48 | public: |
SquirrelGod | 2:99b1cb0d9f5e | 49 | |
SquirrelGod | 2:99b1cb0d9f5e | 50 | /* Function: attach |
SquirrelGod | 2:99b1cb0d9f5e | 51 | * Attach a function to be called by the Ticker, specifiying the interval in seconds |
SquirrelGod | 2:99b1cb0d9f5e | 52 | * |
SquirrelGod | 2:99b1cb0d9f5e | 53 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 54 | * fptr - pointer to the function to be called |
SquirrelGod | 2:99b1cb0d9f5e | 55 | * t - the time between calls in seconds |
SquirrelGod | 2:99b1cb0d9f5e | 56 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 57 | void attach(void (*fptr)(void), float t) { |
SquirrelGod | 2:99b1cb0d9f5e | 58 | attach_us(fptr, t * 1000000.0f); |
SquirrelGod | 2:99b1cb0d9f5e | 59 | } |
SquirrelGod | 2:99b1cb0d9f5e | 60 | |
SquirrelGod | 2:99b1cb0d9f5e | 61 | /* Function: attach |
SquirrelGod | 2:99b1cb0d9f5e | 62 | * Attach a member function to be called by the Ticker, specifiying the interval in seconds |
SquirrelGod | 2:99b1cb0d9f5e | 63 | * |
SquirrelGod | 2:99b1cb0d9f5e | 64 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 65 | * tptr - pointer to the object to call the member function on |
SquirrelGod | 2:99b1cb0d9f5e | 66 | * mptr - pointer to the member function to be called |
SquirrelGod | 2:99b1cb0d9f5e | 67 | * t - the time between calls in seconds |
SquirrelGod | 2:99b1cb0d9f5e | 68 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 69 | template<typename T> |
SquirrelGod | 2:99b1cb0d9f5e | 70 | void attach(T* tptr, void (T::*mptr)(void), float t) { |
SquirrelGod | 2:99b1cb0d9f5e | 71 | attach_us(tptr, mptr, t * 1000000.0f); |
SquirrelGod | 2:99b1cb0d9f5e | 72 | } |
SquirrelGod | 2:99b1cb0d9f5e | 73 | |
SquirrelGod | 2:99b1cb0d9f5e | 74 | /* Function: attach_us |
SquirrelGod | 2:99b1cb0d9f5e | 75 | * Attach a function to be called by the Ticker, specifiying the interval in micro-seconds |
SquirrelGod | 2:99b1cb0d9f5e | 76 | * |
SquirrelGod | 2:99b1cb0d9f5e | 77 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 78 | * fptr - pointer to the function to be called |
SquirrelGod | 2:99b1cb0d9f5e | 79 | * t - the time between calls in micro-seconds |
SquirrelGod | 2:99b1cb0d9f5e | 80 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 81 | void attach_us(void (*fptr)(void), unsigned int t) { |
SquirrelGod | 2:99b1cb0d9f5e | 82 | _function.attach(fptr); |
SquirrelGod | 2:99b1cb0d9f5e | 83 | setup(t); |
SquirrelGod | 2:99b1cb0d9f5e | 84 | } |
SquirrelGod | 2:99b1cb0d9f5e | 85 | |
SquirrelGod | 2:99b1cb0d9f5e | 86 | /* Function: attach_us |
SquirrelGod | 2:99b1cb0d9f5e | 87 | * Attach a member function to be called by the Ticker, specifiying the interval in micro-seconds |
SquirrelGod | 2:99b1cb0d9f5e | 88 | * |
SquirrelGod | 2:99b1cb0d9f5e | 89 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 90 | * tptr - pointer to the object to call the member function on |
SquirrelGod | 2:99b1cb0d9f5e | 91 | * mptr - pointer to the member function to be called |
SquirrelGod | 2:99b1cb0d9f5e | 92 | * t - the time between calls in micro-seconds |
SquirrelGod | 2:99b1cb0d9f5e | 93 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 94 | template<typename T> |
SquirrelGod | 2:99b1cb0d9f5e | 95 | void attach_us(T* tptr, void (T::*mptr)(void), unsigned int t) { |
SquirrelGod | 2:99b1cb0d9f5e | 96 | _function.attach(tptr, mptr); |
SquirrelGod | 2:99b1cb0d9f5e | 97 | setup(t); |
SquirrelGod | 2:99b1cb0d9f5e | 98 | } |
SquirrelGod | 2:99b1cb0d9f5e | 99 | |
SquirrelGod | 2:99b1cb0d9f5e | 100 | /* Function: detach |
SquirrelGod | 2:99b1cb0d9f5e | 101 | * Detach the function |
SquirrelGod | 2:99b1cb0d9f5e | 102 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 103 | void detach(); |
SquirrelGod | 2:99b1cb0d9f5e | 104 | |
SquirrelGod | 2:99b1cb0d9f5e | 105 | protected: |
SquirrelGod | 2:99b1cb0d9f5e | 106 | |
SquirrelGod | 2:99b1cb0d9f5e | 107 | void setup(unsigned int t); |
SquirrelGod | 2:99b1cb0d9f5e | 108 | virtual void handler(); |
SquirrelGod | 2:99b1cb0d9f5e | 109 | |
SquirrelGod | 2:99b1cb0d9f5e | 110 | unsigned int _delay; |
SquirrelGod | 2:99b1cb0d9f5e | 111 | FunctionPointer _function; |
SquirrelGod | 2:99b1cb0d9f5e | 112 | |
SquirrelGod | 2:99b1cb0d9f5e | 113 | }; |
SquirrelGod | 2:99b1cb0d9f5e | 114 | |
SquirrelGod | 2:99b1cb0d9f5e | 115 | } // namespace mbed |
SquirrelGod | 2:99b1cb0d9f5e | 116 | |
SquirrelGod | 2:99b1cb0d9f5e | 117 | #endif |