Revision 6:832162614a19, committed 2017-05-09

Comitter:

carbune92

Date:

Tue May 09 06:13:54 2017 +0000

Parent:

5:fca87573ed92

Child:

7:806b08205b25

Commit message:

Added PWM and analog input functions in ProcessInterface

Changed in this revision

--- a/ProcessInterface.cpp	Mon May 08 21:57:59 2017 +0000
+++ b/ProcessInterface.cpp	Tue May 09 06:13:54 2017 +0000
@@ -1,7 +1,15 @@
 #include "ProcessInterface.hpp"
 
-ProcessInterface::ProcessInterface() : Output(0), cmd(0) {
+ProcessInterface::ProcessInterface() : Output(0), cmd(0), processRead(P0_4), cmdPin(P0_0) {
 	this->Ctrl = 0;
+	this->Btd = 0;
+	cmdPin.period(MIN_PWM_PERIOD);
+}
+
+ProcessInterface::ProcessInterface(PinName _analogPin, PinName _pwmPin) : Output(0), cmd(0), processRead(_analogPin), cmdPin(_pwmPin) {
+	this->Ctrl = 0;
+	this->Btd = 0;
+	cmdPin.period(MIN_PWM_PERIOD);
 }
 
 void ProcessInterface::attachController(Controller *_Ctrl) {
@@ -13,7 +21,7 @@
 }
 
 void ProcessInterface::getProcOutput() {
-	Output = input.read();
+	Output = processRead.read();
 }
 
 void ProcessInterface::exportOutput() {
@@ -29,12 +37,12 @@
 	cmd =_cmd;
 }
 
-void ProcessInterface::applyCmd() {}
+void ProcessInterface::applyCmd() {
+	cmdPin.write(cmd);	
+}
 
 
 ProcessInterface::~ProcessInterface() {
 	delete Ctrl;
 	delete Btd;
 }
-
-

--- a/ProcessInterface.hpp	Mon May 08 21:57:59 2017 +0000
+++ b/ProcessInterface.hpp	Tue May 09 06:13:54 2017 +0000
@@ -5,12 +5,17 @@
 #include "Controller.hpp"
 #include "BTDevice.hpp"
 
-static AnalogIn input(P0_4);
+#define MIN_PWM_PERIOD 0.00001f
+
+//static AnalogIn processRead(P0_4);
+
+// TODO fct de scalat intre 0 si 1 pentru comenzi date de controller care nu se incadreaza
 
 class ProcessInterface{
 	
 	public:
 		ProcessInterface();
+		ProcessInterface(PinName, PinName);
 		void getProcOutput();
 		void attachController(Controller *);
 		void attachBTDevice(BTDevice *);
@@ -18,7 +23,6 @@
 		void updateCmd();
 		void updateCmd(float);
 		void applyCmd();
-		
 		~ProcessInterface();
 		
 	private:
@@ -26,7 +30,8 @@
 		BTDevice *Btd;
 		float Output;
 		float cmd;
-	
+		AnalogIn processRead;
+		PwmOut cmdPin;
 };
 
 #endif