UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

interrupts.cpp@10:836e701d00a6, 2018-04-26 (annotated)

Committer:
MikeGray92
Date:
Thu Apr 26 18:33:11 2018 +0000
Revision:
10:836e701d00a6
Parent:
6:2ffa254e8f6e 
Speed and Position controlled lift and gimbal

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
MikeGray92 6:2ffa254e8f6e 4 //Stall Checking Interrupt
MikeGray92 1:1ac7d472cfa2 5 void hallInterrupt(){
MikeGray92 1:1ac7d472cfa2 6 if(prevPosition == currentPosition){
MikeGray92 4:89ebfa37663b 7 stallcount++;
MikeGray92 1:1ac7d472cfa2 8 }
MikeGray92 4:89ebfa37663b 9 else if(liftSpeed.read() > 0){
MikeGray92 1:1ac7d472cfa2 10 prevPosition = currentPosition;
MikeGray92 4:89ebfa37663b 11 stallcount = 0;
MikeGray92 1:1ac7d472cfa2 12 }
MikeGray92 1:1ac7d472cfa2 13 }
MikeGray92 2:0537a8007a39 14
MikeGray92 10:836e701d00a6 15 //E-Stop Interrupt
MikeGray92 10:836e701d00a6 16 void eStopOn(){
MikeGray92 10:836e701d00a6 17 eStopFlag = 1;
MikeGray92 10:836e701d00a6 18 hallInt.detach();
MikeGray92 10:836e701d00a6 19 }
MikeGray92 10:836e701d00a6 20 void eStopOff(){
MikeGray92 10:836e701d00a6 21 eStopFlag = 0;
MikeGray92 10:836e701d00a6 22 hallInt.attach(&hallInterrupt, 0.03);
MikeGray92 10:836e701d00a6 23 }
MikeGray92 10:836e701d00a6 24
MikeGray92 2:0537a8007a39 25 //External Interrupt Counter
MikeGray92 2:0537a8007a39 26 class Hall_Counter_1 {
MikeGray92 2:0537a8007a39 27 public:
MikeGray92 2:0537a8007a39 28 Hall_Counter_1(PinName pin) : _interrupt(pin) { // create the InterruptIn on the pin specified to Counter
MikeGray92 2:0537a8007a39 29 _interrupt.rise(this, &Hall_Counter_1::increment); // attach increment function of this counter instance
MikeGray92 2:0537a8007a39 30 }
MikeGray92 2:0537a8007a39 31 void increment() {
MikeGray92 2:0537a8007a39 32 if(filter_hall1.read_ms() > 5){
MikeGray92 2:0537a8007a39 33 if(liftDirection.read() == LIFTUP){
MikeGray92 2:0537a8007a39 34 currentPosition++;
MikeGray92 2:0537a8007a39 35 }
MikeGray92 2:0537a8007a39 36 else{
MikeGray92 2:0537a8007a39 37 currentPosition--;
MikeGray92 2:0537a8007a39 38 }
MikeGray92 2:0537a8007a39 39 filter_hall1.reset();
MikeGray92 2:0537a8007a39 40 }
MikeGray92 2:0537a8007a39 41 }
MikeGray92 2:0537a8007a39 42
MikeGray92 2:0537a8007a39 43 private:
MikeGray92 2:0537a8007a39 44 InterruptIn _interrupt;
MikeGray92 2:0537a8007a39 45 };
MikeGray92 2:0537a8007a39 46
MikeGray92 2:0537a8007a39 47 Hall_Counter_1 hall_Counter_1(PC_7);