MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/Ticker.h@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #ifndef MBED_TICKER_H
sahilmgandhi 18:6a4db94011d3 17 #define MBED_TICKER_H
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 #include "drivers/TimerEvent.h"
sahilmgandhi 18:6a4db94011d3 20 #include "platform/Callback.h"
sahilmgandhi 18:6a4db94011d3 21 #include "platform/mbed_toolchain.h"
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 namespace mbed {
sahilmgandhi 18:6a4db94011d3 24 /** \addtogroup drivers */
sahilmgandhi 18:6a4db94011d3 25 /** @{*/
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 /** A Ticker is used to call a function at a recurring interval
sahilmgandhi 18:6a4db94011d3 28 *
sahilmgandhi 18:6a4db94011d3 29 * You can use as many seperate Ticker objects as you require.
sahilmgandhi 18:6a4db94011d3 30 *
sahilmgandhi 18:6a4db94011d3 31 * @Note Synchronization level: Interrupt safe
sahilmgandhi 18:6a4db94011d3 32 *
sahilmgandhi 18:6a4db94011d3 33 * Example:
sahilmgandhi 18:6a4db94011d3 34 * @code
sahilmgandhi 18:6a4db94011d3 35 * // Toggle the blinking led after 5 seconds
sahilmgandhi 18:6a4db94011d3 36 *
sahilmgandhi 18:6a4db94011d3 37 * #include "mbed.h"
sahilmgandhi 18:6a4db94011d3 38 *
sahilmgandhi 18:6a4db94011d3 39 * Ticker timer;
sahilmgandhi 18:6a4db94011d3 40 * DigitalOut led1(LED1);
sahilmgandhi 18:6a4db94011d3 41 * DigitalOut led2(LED2);
sahilmgandhi 18:6a4db94011d3 42 *
sahilmgandhi 18:6a4db94011d3 43 * int flip = 0;
sahilmgandhi 18:6a4db94011d3 44 *
sahilmgandhi 18:6a4db94011d3 45 * void attime() {
sahilmgandhi 18:6a4db94011d3 46 * flip = !flip;
sahilmgandhi 18:6a4db94011d3 47 * }
sahilmgandhi 18:6a4db94011d3 48 *
sahilmgandhi 18:6a4db94011d3 49 * int main() {
sahilmgandhi 18:6a4db94011d3 50 * timer.attach(&attime, 5);
sahilmgandhi 18:6a4db94011d3 51 * while(1) {
sahilmgandhi 18:6a4db94011d3 52 * if(flip == 0) {
sahilmgandhi 18:6a4db94011d3 53 * led1 = !led1;
sahilmgandhi 18:6a4db94011d3 54 * } else {
sahilmgandhi 18:6a4db94011d3 55 * led2 = !led2;
sahilmgandhi 18:6a4db94011d3 56 * }
sahilmgandhi 18:6a4db94011d3 57 * wait(0.2);
sahilmgandhi 18:6a4db94011d3 58 * }
sahilmgandhi 18:6a4db94011d3 59 * }
sahilmgandhi 18:6a4db94011d3 60 * @endcode
sahilmgandhi 18:6a4db94011d3 61 */
sahilmgandhi 18:6a4db94011d3 62 class Ticker : public TimerEvent {
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 public:
sahilmgandhi 18:6a4db94011d3 65 Ticker() : TimerEvent() {
sahilmgandhi 18:6a4db94011d3 66 }
sahilmgandhi 18:6a4db94011d3 67
sahilmgandhi 18:6a4db94011d3 68 Ticker(const ticker_data_t *data) : TimerEvent(data) {
sahilmgandhi 18:6a4db94011d3 69 data->interface->init();
sahilmgandhi 18:6a4db94011d3 70 }
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 /** Attach a function to be called by the Ticker, specifiying the interval in seconds
sahilmgandhi 18:6a4db94011d3 73 *
sahilmgandhi 18:6a4db94011d3 74 * @param func pointer to the function to be called
sahilmgandhi 18:6a4db94011d3 75 * @param t the time between calls in seconds
sahilmgandhi 18:6a4db94011d3 76 */
sahilmgandhi 18:6a4db94011d3 77 void attach(Callback<void()> func, float t) {
sahilmgandhi 18:6a4db94011d3 78 attach_us(func, t * 1000000.0f);
sahilmgandhi 18:6a4db94011d3 79 }
sahilmgandhi 18:6a4db94011d3 80
sahilmgandhi 18:6a4db94011d3 81 /** Attach a member function to be called by the Ticker, specifiying the interval in seconds
sahilmgandhi 18:6a4db94011d3 82 *
sahilmgandhi 18:6a4db94011d3 83 * @param obj pointer to the object to call the member function on
sahilmgandhi 18:6a4db94011d3 84 * @param method pointer to the member function to be called
sahilmgandhi 18:6a4db94011d3 85 * @param t the time between calls in seconds
sahilmgandhi 18:6a4db94011d3 86 * @deprecated
sahilmgandhi 18:6a4db94011d3 87 * The attach function does not support cv-qualifiers. Replaced by
sahilmgandhi 18:6a4db94011d3 88 * attach(callback(obj, method), t).
sahilmgandhi 18:6a4db94011d3 89 */
sahilmgandhi 18:6a4db94011d3 90 template<typename T, typename M>
sahilmgandhi 18:6a4db94011d3 91 MBED_DEPRECATED_SINCE("mbed-os-5.1",
sahilmgandhi 18:6a4db94011d3 92 "The attach function does not support cv-qualifiers. Replaced by "
sahilmgandhi 18:6a4db94011d3 93 "attach(callback(obj, method), t).")
sahilmgandhi 18:6a4db94011d3 94 void attach(T *obj, M method, float t) {
sahilmgandhi 18:6a4db94011d3 95 attach(callback(obj, method), t);
sahilmgandhi 18:6a4db94011d3 96 }
sahilmgandhi 18:6a4db94011d3 97
sahilmgandhi 18:6a4db94011d3 98 /** Attach a function to be called by the Ticker, specifiying the interval in micro-seconds
sahilmgandhi 18:6a4db94011d3 99 *
sahilmgandhi 18:6a4db94011d3 100 * @param fptr pointer to the function to be called
sahilmgandhi 18:6a4db94011d3 101 * @param t the time between calls in micro-seconds
sahilmgandhi 18:6a4db94011d3 102 */
sahilmgandhi 18:6a4db94011d3 103 void attach_us(Callback<void()> func, timestamp_t t) {
sahilmgandhi 18:6a4db94011d3 104 _function = func;
sahilmgandhi 18:6a4db94011d3 105 setup(t);
sahilmgandhi 18:6a4db94011d3 106 }
sahilmgandhi 18:6a4db94011d3 107
sahilmgandhi 18:6a4db94011d3 108 /** Attach a member function to be called by the Ticker, specifiying the interval in micro-seconds
sahilmgandhi 18:6a4db94011d3 109 *
sahilmgandhi 18:6a4db94011d3 110 * @param tptr pointer to the object to call the member function on
sahilmgandhi 18:6a4db94011d3 111 * @param mptr pointer to the member function to be called
sahilmgandhi 18:6a4db94011d3 112 * @param t the time between calls in micro-seconds
sahilmgandhi 18:6a4db94011d3 113 * @deprecated
sahilmgandhi 18:6a4db94011d3 114 * The attach_us function does not support cv-qualifiers. Replaced by
sahilmgandhi 18:6a4db94011d3 115 * attach_us(callback(obj, method), t).
sahilmgandhi 18:6a4db94011d3 116 */
sahilmgandhi 18:6a4db94011d3 117 template<typename T, typename M>
sahilmgandhi 18:6a4db94011d3 118 MBED_DEPRECATED_SINCE("mbed-os-5.1",
sahilmgandhi 18:6a4db94011d3 119 "The attach_us function does not support cv-qualifiers. Replaced by "
sahilmgandhi 18:6a4db94011d3 120 "attach_us(callback(obj, method), t).")
sahilmgandhi 18:6a4db94011d3 121 void attach_us(T *obj, M method, timestamp_t t) {
sahilmgandhi 18:6a4db94011d3 122 attach_us(Callback<void()>(obj, method), t);
sahilmgandhi 18:6a4db94011d3 123 }
sahilmgandhi 18:6a4db94011d3 124
sahilmgandhi 18:6a4db94011d3 125 virtual ~Ticker() {
sahilmgandhi 18:6a4db94011d3 126 detach();
sahilmgandhi 18:6a4db94011d3 127 }
sahilmgandhi 18:6a4db94011d3 128
sahilmgandhi 18:6a4db94011d3 129 /** Detach the function
sahilmgandhi 18:6a4db94011d3 130 */
sahilmgandhi 18:6a4db94011d3 131 void detach();
sahilmgandhi 18:6a4db94011d3 132
sahilmgandhi 18:6a4db94011d3 133 protected:
sahilmgandhi 18:6a4db94011d3 134 void setup(timestamp_t t);
sahilmgandhi 18:6a4db94011d3 135 virtual void handler();
sahilmgandhi 18:6a4db94011d3 136
sahilmgandhi 18:6a4db94011d3 137 protected:
sahilmgandhi 18:6a4db94011d3 138 timestamp_t _delay; /**< Time delay (in microseconds) for re-setting the multi-shot callback. */
sahilmgandhi 18:6a4db94011d3 139 Callback<void()> _function; /**< Callback. */
sahilmgandhi 18:6a4db94011d3 140 };
sahilmgandhi 18:6a4db94011d3 141
sahilmgandhi 18:6a4db94011d3 142 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 143
sahilmgandhi 18:6a4db94011d3 144 #endif
sahilmgandhi 18:6a4db94011d3 145
sahilmgandhi 18:6a4db94011d3 146 /** @}*/