Revision 10:1b5440d9226c, committed 2017-04-11

Comitter:

GaiSensei

Date:

Tue Apr 11 03:47:38 2017 +0000

Parent:

9:1069bd8c9472

Commit message:

Calibrate servomotors

Changed in this revision

diff -r 1069bd8c9472 -r 1b5440d9226c include/Bumper.hpp
--- a/include/Bumper.hpp	Sun Apr 09 23:46:00 2017 +0000
+++ b/include/Bumper.hpp	Tue Apr 11 03:47:38 2017 +0000
@@ -13,12 +13,13 @@
 class Bumper
 {
     public:
-        Bumper(PinName pin, NerfusCallbackInterface& nerfus_callback);
-        void bumped();
+        Bumper(PinName pin, NerfusCallbackInterface* nerfus_rise_callback);
+        void set_callbacks(NerfusCallbackInterface* nerfus_rise_callback);
+        void rise_callback();
         
     private:    
         InterruptIn interrupt_in;
-        NerfusCallbackInterface& nerfus_callback;
+        NerfusCallbackInterface* nerfus_rise_callback;
 };
 
 #endif
\ No newline at end of file

diff -r 1069bd8c9472 -r 1b5440d9226c mbed_source/Bumper.cpp
--- a/mbed_source/Bumper.cpp	Sun Apr 09 23:46:00 2017 +0000
+++ b/mbed_source/Bumper.cpp	Tue Apr 11 03:47:38 2017 +0000
@@ -1,14 +1,21 @@
 #include "Bumper.hpp"
 
-Bumper::Bumper(PinName pin, NerfusCallbackInterface& nerfus_callback) :
+Bumper::Bumper(PinName pin, NerfusCallbackInterface* nerfus_rise_callback) :
     interrupt_in(pin),
-    nerfus_callback(nerfus_callback)
+    nerfus_rise_callback(nerfus_rise_callback)
 {        
-    interrupt_in.rise(callback(this, &Bumper::bumped));
+    interrupt_in.rise(callback(this, &Bumper::rise_callback));
+}
+
+void Bumper::set_callbacks(NerfusCallbackInterface* nerfus_rise_callback)
+{
+    this->nerfus_rise_callback = nerfus_rise_callback;
 }
         
-void Bumper::bumped()
+void Bumper::rise_callback()
 {
-    nerfus_callback.call();
+    if(nerfus_rise_callback)
+    {
+        nerfus_rise_callback->call();
+    }
 }
-    
\ No newline at end of file