Jose Calle / Mbed 2 deprecated Tarea1-Sencilla

Asignación de valores controlador PID sencillo.

Dependencies:   TextLCD mbed

Fork of controlPID by Gustavo Ramirez

DebouncedIn.cpp@2:434bb36fa59f, 2013-10-18 (annotated)

Committer:
jmcallef
Date:
Fri Oct 18 05:12:02 2013 +0000
Revision:
2:434bb36fa59f
Parent:
0:672241227e0d 
Asignar valores control PID sencillo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:672241227e0d 1 #include "DebouncedIn.h"
chris 0:672241227e0d 2 #include "mbed.h"
chris 0:672241227e0d 3
chris 0:672241227e0d 4 /*
chris 0:672241227e0d 5 * Constructor
chris 0:672241227e0d 6 */
chris 0:672241227e0d 7 DebouncedIn::DebouncedIn(PinName in)
chris 0:672241227e0d 8 : _in(in) {
chris 0:672241227e0d 9
chris 0:672241227e0d 10 // reset all the flags and counters
chris 0:672241227e0d 11 _samples = 0;
chris 0:672241227e0d 12 _output = 0;
chris 0:672241227e0d 13 _output_last = 0;
chris 0:672241227e0d 14 _rising_flag = 0;
chris 0:672241227e0d 15 _falling_flag = 0;
chris 0:672241227e0d 16 _state_counter = 0;
chris 0:672241227e0d 17
chris 0:672241227e0d 18 // Attach ticker
chris 0:672241227e0d 19 _ticker.attach(this, &DebouncedIn::_sample, 0.005);
chris 0:672241227e0d 20 }
chris 0:672241227e0d 21
chris 0:672241227e0d 22 void DebouncedIn::_sample() {
chris 0:672241227e0d 23
chris 0:672241227e0d 24 // take a sample
chris 0:672241227e0d 25 _samples = _samples >> 1; // shift left
chris 0:672241227e0d 26
chris 0:672241227e0d 27 if (_in) {
chris 0:672241227e0d 28 _samples |= 0x80;
chris 0:672241227e0d 29 }
chris 0:672241227e0d 30
chris 0:672241227e0d 31 // examine the sample window, look for steady state
chris 0:672241227e0d 32 if (_samples == 0x00) {
chris 0:672241227e0d 33 _output = 0;
chris 0:672241227e0d 34 }
chris 0:672241227e0d 35 else if (_samples == 0xFF) {
chris 0:672241227e0d 36 _output = 1;
chris 0:672241227e0d 37 }
chris 0:672241227e0d 38
chris 0:672241227e0d 39
chris 0:672241227e0d 40 // Rising edge detection
chris 0:672241227e0d 41 if ((_output == 1) && (_output_last == 0)) {
chris 0:672241227e0d 42 _rising_flag++;
chris 0:672241227e0d 43 _state_counter = 0;
chris 0:672241227e0d 44 }
chris 0:672241227e0d 45
chris 0:672241227e0d 46 // Falling edge detection
chris 0:672241227e0d 47 else if ((_output == 0) && (_output_last == 1)) {
chris 0:672241227e0d 48 _falling_flag++;
chris 0:672241227e0d 49 _state_counter = 0;
chris 0:672241227e0d 50 }
chris 0:672241227e0d 51
chris 0:672241227e0d 52 // steady state
chris 0:672241227e0d 53 else {
chris 0:672241227e0d 54 _state_counter++;
chris 0:672241227e0d 55 }
chris 0:672241227e0d 56
chris 0:672241227e0d 57 // update the output
chris 0:672241227e0d 58 _output_last = _output;
chris 0:672241227e0d 59
chris 0:672241227e0d 60 }
chris 0:672241227e0d 61
chris 0:672241227e0d 62
chris 0:672241227e0d 63
chris 0:672241227e0d 64 // return number of rising edges
chris 0:672241227e0d 65 int DebouncedIn::rising(void) {
chris 0:672241227e0d 66 int return_value = _rising_flag;
chris 0:672241227e0d 67 _rising_flag = 0;
chris 0:672241227e0d 68 return(return_value);
chris 0:672241227e0d 69 }
chris 0:672241227e0d 70
chris 0:672241227e0d 71 // return number of falling edges
chris 0:672241227e0d 72 int DebouncedIn::falling(void) {
chris 0:672241227e0d 73 int return_value = _falling_flag;
chris 0:672241227e0d 74 _falling_flag = 0;
chris 0:672241227e0d 75 return(return_value);
chris 0:672241227e0d 76 }
chris 0:672241227e0d 77
chris 0:672241227e0d 78 // return number of ticsk we've bene steady for
chris 0:672241227e0d 79 int DebouncedIn::steady(void) {
chris 0:672241227e0d 80 return(_state_counter);
chris 0:672241227e0d 81 }
chris 0:672241227e0d 82
chris 0:672241227e0d 83 // return the debounced status
chris 0:672241227e0d 84 int DebouncedIn::read(void) {
chris 0:672241227e0d 85 return(_output);
chris 0:672241227e0d 86 }
chris 0:672241227e0d 87
chris 0:672241227e0d 88 // shorthand for read()
chris 0:672241227e0d 89 DebouncedIn::operator int() {
chris 0:672241227e0d 90 return read();
chris 0:672241227e0d 91 }
chris 0:672241227e0d 92
chris 0:672241227e0d 93