Diff: interupts.h

Revision:

1:f4e3365155e1

diff -r e79700919e2e -r f4e3365155e1 interupts.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/interupts.h	Sun Oct 18 18:23:58 2015 +0000
@@ -0,0 +1,103 @@
+
+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;
+    }
+
+
+
+