Diff: PTC3471.cpp

Revision:

2:01fdfdb7b853

Parent:

1:00b8f71cfe7e

Child:

3:1352c868f1fd

diff -r 00b8f71cfe7e -r 01fdfdb7b853 PTC3471.cpp
--- a/PTC3471.cpp	Mon Aug 07 22:32:23 2017 +0000
+++ b/PTC3471.cpp	Thu Aug 10 12:19:56 2017 +0000
@@ -18,6 +18,7 @@
 double Ctrl_Phi = 0;
 double Ctrl_Phi1 = 0;
 double Ctrl_dPhi = 0;
+double LimitAngle = 0;
 
 void Ctrl_LerAngulos(void){
     Ctrl_Phi1 = Ctrl_Phi;
@@ -53,7 +54,7 @@
 
 void Ctrl_ChecarTrava(void){
     Ctrl_LerAngulos();
-    if(Ctrl_Phi>pi || Ctrl_Phi<-pi){
+    if(Ctrl_Phi>LimitAngle || Ctrl_Phi<-LimitAngle){
         Ctrl_StatusOk.detach();
         Ctrl_Trava.detach();
         Controler_Interrupt->detach();
@@ -65,12 +66,17 @@
     Ctrl_Status = !Ctrl_Status;
 }
 
-void Protecao_Init(QEI* Encoder_Motor, Ticker* Control_Interrupt){
+void Protecao_Init(QEI* Encoder_Motor, Ticker* Control_Interrupt, double angle){
+    
     Ctrl_Encoder_Motor = Encoder_Motor;
     Controler_Interrupt = Control_Interrupt;
+    LimitAngle = angle;
+    
     Ctrl_Status = 1;
     Ctrl_StatusOk.attach(&Ctrl_BlinkOk, 1);
-    Ctrl_Trava.attach(&Ctrl_ChecarTrava, Ctrl_Ts);
+    
+    if(LimitAngle>0)
+        Ctrl_Trava.attach(&Ctrl_ChecarTrava, Ctrl_Ts);
     
     Ctrl_Motor = 0.0;
     Ctrl_Direita = 0;