UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

interrupts.cpp@2:0537a8007a39, 2018-02-08 (annotated)

Committer:
MikeGray92
Date:
Thu Feb 08 22:23:40 2018 +0000
Revision:
2:0537a8007a39
Parent:
1:1ac7d472cfa2
Child:
4:89ebfa37663b
Code ready to be tested with ROS. ; -Tested external interrupt positioning for the lift; -remove unnecessary flags and functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MikeGray92 2:0537a8007a39 1 #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 #include <definitions.h>
group-UVic-Assistive-Technolog 0:3a767f41cf04 3
group-UVic-Assistive-Technolog 0:3a767f41cf04 4
MikeGray92 2:0537a8007a39 5 //Stall Check Interrupt
MikeGray92 1:1ac7d472cfa2 6 void hallInterrupt(){
MikeGray92 1:1ac7d472cfa2 7 if(prevPosition == currentPosition){
MikeGray92 1:1ac7d472cfa2 8 stall = true;
MikeGray92 1:1ac7d472cfa2 9 }
MikeGray92 1:1ac7d472cfa2 10 else{
MikeGray92 1:1ac7d472cfa2 11 prevPosition = currentPosition;
MikeGray92 1:1ac7d472cfa2 12 stall = false;
MikeGray92 1:1ac7d472cfa2 13 }
MikeGray92 1:1ac7d472cfa2 14 }
MikeGray92 2:0537a8007a39 15
MikeGray92 2:0537a8007a39 16 //External Interrupt Counter
MikeGray92 2:0537a8007a39 17 class Hall_Counter_1 {
MikeGray92 2:0537a8007a39 18 public:
MikeGray92 2:0537a8007a39 19 Hall_Counter_1(PinName pin) : _interrupt(pin) { // create the InterruptIn on the pin specified to Counter
MikeGray92 2:0537a8007a39 20 _interrupt.rise(this, &Hall_Counter_1::increment); // attach increment function of this counter instance
MikeGray92 2:0537a8007a39 21 }
MikeGray92 2:0537a8007a39 22 void increment() {
MikeGray92 2:0537a8007a39 23 if(filter_hall1.read_ms() > 5){
MikeGray92 2:0537a8007a39 24 if(liftDirection.read() == LIFTUP){
MikeGray92 2:0537a8007a39 25 currentPosition++;
MikeGray92 2:0537a8007a39 26 }
MikeGray92 2:0537a8007a39 27 else{
MikeGray92 2:0537a8007a39 28 currentPosition--;
MikeGray92 2:0537a8007a39 29 }
MikeGray92 2:0537a8007a39 30 filter_hall1.reset();
MikeGray92 2:0537a8007a39 31 }
MikeGray92 2:0537a8007a39 32 }
MikeGray92 2:0537a8007a39 33
MikeGray92 2:0537a8007a39 34 private:
MikeGray92 2:0537a8007a39 35 InterruptIn _interrupt;
MikeGray92 2:0537a8007a39 36 };
MikeGray92 2:0537a8007a39 37
MikeGray92 2:0537a8007a39 38 Hall_Counter_1 hall_Counter_1(PC_7);