First Commit
Dependencies: mbed Crypto_light mbed-rtos
Spin it 2 win it
Diff: main.cpp
- Revision:
- 19:526fd700e1b3
- Parent:
- 18:05e5d280a082
- Child:
- 20:a435105305fe
diff -r 05e5d280a082 -r 526fd700e1b3 main.cpp --- a/main.cpp Tue Mar 20 15:00:09 2018 +0000 +++ b/main.cpp Tue Mar 20 15:10:08 2018 +0000 @@ -123,7 +123,11 @@ } - +void photointerrupter_isr() +{ + int8_t intState = readRotorState(); + motorOut((intState-orState+lead+6)%6, torque); //+6 to make sure the remainder is positive +} Thread decodeT; @@ -152,6 +156,7 @@ putMessage(MSG_NEW_KEY, newKey); } else if (sscanf(s, "T%u", &torque_)) { torque = torque_; + photointerrupter_isr(); //Give it a kick putMessage(MSG_TORQUE, torque); //ERROR } else @@ -238,11 +243,6 @@ return readRotorState(); } -void photointerrupter_isr() -{ - int8_t intState = readRotorState(); - motorOut((intState-orState+lead+6)%6, torque); //+6 to make sure the remainder is positive -} //Main @@ -277,8 +277,8 @@ //Calling the ISR once starts the motor movement photointerrupter_isr(); - - + + SHA256 sha256; @@ -315,7 +315,3 @@ hashcount++; } } - - -// K12345678\r -// K12345678