File content as of revision 1:f4e3365155e1:

int HEPulse(int let,int num, int order) //tell us which hall effect HEA1= hall effect, (let, A=1, B=2), (num, 1/2), order (index possition to be filled alternates)
{
    float fA1;
    float fA2;
    float fB1;
    float fB2;
    int time;
    time = timer.read_us(); //use to check for interrupt debounce

    if((tA1[0]-time<10)||(tA2[0]-time<10)||(tA1[1]-time<10)||(tA2[1]-time<10)) {
        return 1;
    } // if less than 10us from last interupt assume debouce and ignore
    //find right thing to do for current hall effect
    switch(order) { //check whether to fill index possition 0/1
        case(1) :
            switch(let) { //check hall effect A/B
                case(1):

                    switch(num) { //check hall effect 1/2
                        case (1):
                            tA1[0] = timer.read_us();
                            distanceA += (wheelc/6); //increment distance
                            pulse_orderA = 2; //toggle index to be filled
                            break;

                        case(2) : 
                            tA2[0] = timer.read_us();
                            pulse_orderA = 2;
                            break;
                    }
                    break;


                case(2): //check hall effect A/B

                    switch(num) {
                        case (1):
                            tB1[0] = timer.read_us();
                            distanceB += (wheelc/6);
                            pulse_orderB = 2;
                            break;

                        case(2) :
                            tB2[0] = timer.read_us();
                            pulse_orderB = 2;
                            break;
                    }
                    break;

            }
        case(2) :
            switch(let) {
                case(1):

                    switch(num) {
                        case (1):
                            tA1[1] = timer.read_us();
                            distanceA += (wheelc/6);
                            fA1 = 1.0f/(( fabsf(tA1[1]-tA1[0]) ) * (float)3.0E-6);
                            pulse_orderA = 1;
                            break;

                        case(2) :
                            tA2[1] = timer.read_us();
                            fA2 = 1.0f/(( fabsf(tA2[1]-tA2[0]) ) * (float)3.0E-6);
                            pulse_orderA = 1;
                            break;
                    }
                    break;


                case(2):

                    switch(num) {
                        case (1):
                            tB1[1] = timer.read_us();
                            distanceB += (wheelc/6);
                            fB1 = 1.0f/(( fabsf(tB1[1]-tB1[0]) ) * (float)3.0E-6);
                            pulse_orderB = 1;
                            break;

                        case(2) :
                            tB2[1] = timer.read_us();
                            fB2 = 1.0f/((fabsf( tB2[1]-tB2[0]) ) * (float)3.0E-6);
                            pulse_orderB = 1;
                            break;
                    }
                    break;

            }

            float fA = (fA1 + fA2)*0.5f; //calculate average frequency of hall effect A
            float fB = (fB1 + fB2)*0.5f; //calculate average frequency of hall effect B
            speedA = fA/20.8f; //output speeds of motors by frequency/gear box ratio
            speedB = fB/20.8f;

            return 1;
    }