Jared DiCarlo / Mbed 2 deprecated foc-ed_in_the_bot_compact

working version

Dependencies:   FastPWM3 mbed

Fork of foc-ed_in_the_bot_compact by Bayley Wang

pwm_in.cpp@13:41d102a53caf, 2016-10-30 (annotated)

Committer:
dicarloj
Date:
Sun Oct 30 02:06:03 2016 +0000
Revision:
13:41d102a53caf
IT WORKS THIS VERSION

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dicarloj 13:41d102a53caf 1 #include "pwm_in.h"
dicarloj 13:41d102a53caf 2 #include "mbed.h"
dicarloj 13:41d102a53caf 3
dicarloj 13:41d102a53caf 4 float map(float x, float in_min, float in_max, float out_min, float out_max)
dicarloj 13:41d102a53caf 5 {
dicarloj 13:41d102a53caf 6 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
dicarloj 13:41d102a53caf 7 }
dicarloj 13:41d102a53caf 8
dicarloj 13:41d102a53caf 9 float constrain(float in, float min, float max)
dicarloj 13:41d102a53caf 10 {
dicarloj 13:41d102a53caf 11 if(in > max) return max;
dicarloj 13:41d102a53caf 12 if(in < min) return min;
dicarloj 13:41d102a53caf 13 return in;
dicarloj 13:41d102a53caf 14 }
dicarloj 13:41d102a53caf 15
dicarloj 13:41d102a53caf 16 PWM_IN::PWM_IN(PinName pin, int usec_min, int usec_max)
dicarloj 13:41d102a53caf 17 {
dicarloj 13:41d102a53caf 18 int_in = new InterruptIn(pin);
dicarloj 13:41d102a53caf 19 dig_in = new DigitalIn(pin);
dicarloj 13:41d102a53caf 20 int_in->rise(this, &PWM_IN::handle_rise);
dicarloj 13:41d102a53caf 21 int_in->fall(this, &PWM_IN::handle_fall);
dicarloj 13:41d102a53caf 22 this->usec_min = usec_min;
dicarloj 13:41d102a53caf 23 this->usec_max = usec_max;
dicarloj 13:41d102a53caf 24 }
dicarloj 13:41d102a53caf 25
dicarloj 13:41d102a53caf 26
dicarloj 13:41d102a53caf 27 bool PWM_IN::get_enabled()
dicarloj 13:41d102a53caf 28 {
dicarloj 13:41d102a53caf 29 return enabled;
dicarloj 13:41d102a53caf 30 }
dicarloj 13:41d102a53caf 31
dicarloj 13:41d102a53caf 32 void PWM_IN::handle_rise()
dicarloj 13:41d102a53caf 33 {
dicarloj 13:41d102a53caf 34 enabled = true;
dicarloj 13:41d102a53caf 35 timer.stop();
dicarloj 13:41d102a53caf 36 timer.reset();
dicarloj 13:41d102a53caf 37 timer.start();
dicarloj 13:41d102a53caf 38 was_on = true;
dicarloj 13:41d102a53caf 39 }
dicarloj 13:41d102a53caf 40
dicarloj 13:41d102a53caf 41 void PWM_IN::handle_fall()
dicarloj 13:41d102a53caf 42 {
dicarloj 13:41d102a53caf 43 was_on = false;
dicarloj 13:41d102a53caf 44 usecs = timer.read_us();
dicarloj 13:41d102a53caf 45 timer.stop();
dicarloj 13:41d102a53caf 46 timer.reset();
dicarloj 13:41d102a53caf 47 timer.start();
dicarloj 13:41d102a53caf 48 }
dicarloj 13:41d102a53caf 49
dicarloj 13:41d102a53caf 50 float PWM_IN::get_throttle()
dicarloj 13:41d102a53caf 51 {
dicarloj 13:41d102a53caf 52 if(timer.read_us() > 40000) enabled = false;
dicarloj 13:41d102a53caf 53 if(!enabled) return -1;
dicarloj 13:41d102a53caf 54 return constrain(map((float)usecs, usec_min, usec_max, 0, 1), 0, 1);
dicarloj 13:41d102a53caf 55 }
dicarloj 13:41d102a53caf 56