Diff: photointerruptRoutines.h

Revision:

53:c703e0bf5e87

Parent:

50:c0c299bf54a6

Child:

57:b1b4e1379613

Child:

59:fcaef23bbaaf

--- a/photointerruptRoutines.h	Fri Mar 24 17:30:41 2017 +0000
+++ b/photointerruptRoutines.h	Fri Mar 24 18:27:23 2017 +0000
@@ -16,70 +16,76 @@
     return stateMap[4*I3 + 2*I2 + I1];  // rotor state. Reports 1/6 positions
 }
 
-void updateDiskPosition() {
-  if (CH_state != CH_state_prev) {
-    int diff = CH_state - CH_state_prev;
-   
-    CH_state_prev = CH_state;
-    if (abs(diff) == 1 || abs(diff) == 3) {
-        if (diff < 0)
-            diskPosition += angularResolution;
-        else
-            diskPosition -= angularResolution;
-    }
-    else if (abs(diff) == 2) {
-        if (diff < 0)
-            diskPosition += 2.0f * angularResolution;
-        else
-            diskPosition -= 2.0f * angularResolution;
-    }
- 
-    if (diskPosition >= 360.0f) {
-      diskPosition -= 360.0f;
-    } else if (diskPosition < -360.0f) {
-      diskPosition += 360.0f;
-    }
-  }
-}
- 
-inline void updateRelativeState() {
-  CH_state = relativeStateMap[CHB_state + 2*CHA_state];
-}
+//void updateDiskPosition() {
+//  if (CH_state != CH_state_prev) {
+//    int diff = CH_state - CH_state_prev;
+//   
+//    CH_state_prev = CH_state;
+//    if (abs(diff) == 1 || abs(diff) == 3) {
+//        if (diff < 0)
+//            diskPosition += angularResolution;
+//        else
+//            diskPosition -= angularResolution;
+//    }
+//    else if (abs(diff) == 2) {
+//        if (diff < 0)
+//            diskPosition += 2.0f * angularResolution;
+//        else
+//            diskPosition -= 2.0f * angularResolution;
+//    }
+// 
+//    if (diskPosition >= 360.0f) {
+//      diskPosition -= 360.0f;
+//    } else if (diskPosition < -360.0f) {
+//      diskPosition += 360.0f;
+//    }
+//  }
+//}
+// 
+//inline void updateRelativeState() {
+//  CH_state = relativeStateMap[CHB_state + 2*CHA_state];
+//}
 
-inline void CHA_rise() {
-  CHA_state = 1;
-  updateRelativeState();
-  updateDiskPosition();
-}
-
-// Takes 5-6us
-inline void CHA_fall() {
-  CHA_state = 0;
-  updateRelativeState();
-  updateDiskPosition();
-}
-inline void CHB_rise() {
-  CHB_state = 1;
-  updateRelativeState();
-  updateDiskPosition();
-}
-inline void CHB_fall() {
-  CHB_state = 0;
-  updateRelativeState();
-  updateDiskPosition();
-}
+//inline void CHA_rise() {
+//  CHA_state = 1;
+//  updateRelativeState();
+//  updateDiskPosition();
+//}
+//
+//// Takes 5-6us
+//inline void CHA_fall() {
+//  CHA_state = 0;
+//  updateRelativeState();
+//  updateDiskPosition();
+//}
+//inline void CHB_rise() {
+//  CHB_state = 1;
+//  updateRelativeState();
+//  updateDiskPosition();
+//}
+//inline void CHB_fall() {
+//  CHB_state = 0;
+//  updateRelativeState();
+//  updateDiskPosition();
+//}
 
 void i_edge(){
     state = updateState();
     motorOut((state-orState+lead+6)%6, velocityDuty);
 }
-
-inline void i3rise(){
+Mutex mutex;
+void i3rise(){
+    mutex.lock();
+    w3 = 1/dt_I3.read();                //Calc angular velocity 
+    mutex.unlock();
+       
+    dt_I3.reset();
+ 
+    if (I2.read() == 1){                     //Only count revolutions if the
+        mutex.lock();
+        count_i3++;                         // rotor spins forward
+        mutex.unlock();
+    }
     state = updateState();
     motorOut((state-orState+lead+6)%6, velocityDuty);
-    w3 = 1/dt_I3.read();                //Calc angular velocity    
-    dt_I3.reset();
- 
-    if (I2.read() == 1)                     //Only count revolutions if the
-        count_i3++;                         // rotor spins forward
 }
\ No newline at end of file