Reiko Randoja / Mbed 2 deprecated ut_bbr_2018

Firmware for UT Robotex 2018 basketball robot

Dependencies:   mbed USBDevice

RFManager/CircularBuffer2.h@4:81cb68f1bcbd, 2019-11-11 (annotated)

Committer:
Reiko
Date:
Mon Nov 11 19:19:43 2019 +0000
Revision:
4:81cb68f1bcbd
Parent:
0:ef6268629f0b 
Change default thrower (motor 3) pulsewidth_us from 800 to 100

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Reiko 0:ef6268629f0b 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
Reiko 0:ef6268629f0b 2 *
Reiko 0:ef6268629f0b 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
Reiko 0:ef6268629f0b 4 * and associated documentation files (the "Software"), to deal in the Software without
Reiko 0:ef6268629f0b 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
Reiko 0:ef6268629f0b 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
Reiko 0:ef6268629f0b 7 * Software is furnished to do so, subject to the following conditions:
Reiko 0:ef6268629f0b 8 *
Reiko 0:ef6268629f0b 9 * The above copyright notice and this permission notice shall be included in all copies or
Reiko 0:ef6268629f0b 10 * substantial portions of the Software.
Reiko 0:ef6268629f0b 11 *
Reiko 0:ef6268629f0b 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
Reiko 0:ef6268629f0b 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
Reiko 0:ef6268629f0b 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
Reiko 0:ef6268629f0b 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Reiko 0:ef6268629f0b 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Reiko 0:ef6268629f0b 17 */
Reiko 0:ef6268629f0b 18
Reiko 0:ef6268629f0b 19 #ifndef CIRCULARBUFFER2_H
Reiko 0:ef6268629f0b 20 #define CIRCULARBUFFER2_H
Reiko 0:ef6268629f0b 21
Reiko 0:ef6268629f0b 22 template <class T>
Reiko 0:ef6268629f0b 23 class CircularBuffer2 {
Reiko 0:ef6268629f0b 24 public:
Reiko 0:ef6268629f0b 25
Reiko 0:ef6268629f0b 26 CircularBuffer2(int length) {
Reiko 0:ef6268629f0b 27 write = 0;
Reiko 0:ef6268629f0b 28 read = 0;
Reiko 0:ef6268629f0b 29 size = length + 1;
Reiko 0:ef6268629f0b 30 buf = (T *)malloc(size * sizeof(T));
Reiko 0:ef6268629f0b 31 };
Reiko 0:ef6268629f0b 32
Reiko 0:ef6268629f0b 33 ~CircularBuffer2() {
Reiko 0:ef6268629f0b 34 free(buf);
Reiko 0:ef6268629f0b 35 }
Reiko 0:ef6268629f0b 36
Reiko 0:ef6268629f0b 37 bool isFull() {
Reiko 0:ef6268629f0b 38 return ((write + 1) % size == read);
Reiko 0:ef6268629f0b 39 };
Reiko 0:ef6268629f0b 40
Reiko 0:ef6268629f0b 41 bool isEmpty() {
Reiko 0:ef6268629f0b 42 return (read == write);
Reiko 0:ef6268629f0b 43 };
Reiko 0:ef6268629f0b 44
Reiko 0:ef6268629f0b 45 void queue(T k) {
Reiko 0:ef6268629f0b 46 if (isFull()) {
Reiko 0:ef6268629f0b 47 read++;
Reiko 0:ef6268629f0b 48 read %= size;
Reiko 0:ef6268629f0b 49 }
Reiko 0:ef6268629f0b 50 buf[write++] = k;
Reiko 0:ef6268629f0b 51 write %= size;
Reiko 0:ef6268629f0b 52 }
Reiko 0:ef6268629f0b 53
Reiko 0:ef6268629f0b 54 uint16_t available() {
Reiko 0:ef6268629f0b 55 return (write >= read) ? write - read : size - read + write;
Reiko 0:ef6268629f0b 56 };
Reiko 0:ef6268629f0b 57
Reiko 0:ef6268629f0b 58 bool dequeue(T * c) {
Reiko 0:ef6268629f0b 59 bool empty = isEmpty();
Reiko 0:ef6268629f0b 60 if (!empty) {
Reiko 0:ef6268629f0b 61 *c = buf[read++];
Reiko 0:ef6268629f0b 62 read %= size;
Reiko 0:ef6268629f0b 63 }
Reiko 0:ef6268629f0b 64 return(!empty);
Reiko 0:ef6268629f0b 65 };
Reiko 0:ef6268629f0b 66
Reiko 0:ef6268629f0b 67 private:
Reiko 0:ef6268629f0b 68 volatile uint16_t write;
Reiko 0:ef6268629f0b 69 volatile uint16_t read;
Reiko 0:ef6268629f0b 70 uint16_t size;
Reiko 0:ef6268629f0b 71 T * buf;
Reiko 0:ef6268629f0b 72 };
Reiko 0:ef6268629f0b 73
Reiko 0:ef6268629f0b 74 #endif