NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
RC/RC_Channel.cpp@10:953afcbcebfc, 2012-10-17 (annotated)
- Committer:
- maetugr
- Date:
- Wed Oct 17 08:37:08 2012 +0000
- Revision:
- 10:953afcbcebfc
- Parent:
- 7:9d4313510646
- Child:
- 12:67a06c9b69d5
neue Acc_Winkelberechnung, vor Kompassklassenrevision
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 7:9d4313510646 | 1 | #include "RC_Channel.h" |
maetugr | 7:9d4313510646 | 2 | #include "mbed.h" |
maetugr | 7:9d4313510646 | 3 | |
maetugr | 7:9d4313510646 | 4 | RC_Channel::RC_Channel(PinName mypin) : myinterrupt(mypin) |
maetugr | 7:9d4313510646 | 5 | { |
maetugr | 10:953afcbcebfc | 6 | time = -1; // start value to see if there was any value yet |
maetugr | 7:9d4313510646 | 7 | myinterrupt.rise(this, &RC_Channel::rise); |
maetugr | 7:9d4313510646 | 8 | myinterrupt.fall(this, &RC_Channel::fall); |
maetugr | 10:953afcbcebfc | 9 | timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1); |
maetugr | 7:9d4313510646 | 10 | } |
maetugr | 7:9d4313510646 | 11 | |
maetugr | 7:9d4313510646 | 12 | int RC_Channel::read() |
maetugr | 7:9d4313510646 | 13 | { |
maetugr | 7:9d4313510646 | 14 | return time; |
maetugr | 7:9d4313510646 | 15 | } |
maetugr | 7:9d4313510646 | 16 | |
maetugr | 7:9d4313510646 | 17 | void RC_Channel::rise() |
maetugr | 7:9d4313510646 | 18 | { |
maetugr | 7:9d4313510646 | 19 | timer.start(); |
maetugr | 7:9d4313510646 | 20 | } |
maetugr | 7:9d4313510646 | 21 | |
maetugr | 7:9d4313510646 | 22 | void RC_Channel::fall() |
maetugr | 7:9d4313510646 | 23 | { |
maetugr | 7:9d4313510646 | 24 | timer.stop(); |
maetugr | 7:9d4313510646 | 25 | time = timer.read_us(); |
maetugr | 7:9d4313510646 | 26 | timer.reset(); |
maetugr | 10:953afcbcebfc | 27 | timer.start(); |
maetugr | 10:953afcbcebfc | 28 | } |
maetugr | 10:953afcbcebfc | 29 | |
maetugr | 10:953afcbcebfc | 30 | void RC_Channel::timeoutcheck() |
maetugr | 10:953afcbcebfc | 31 | { |
maetugr | 10:953afcbcebfc | 32 | if (timer.read() > 0.3) |
maetugr | 10:953afcbcebfc | 33 | time = 0; |
maetugr | 7:9d4313510646 | 34 | } |