Revision 4:fc48ef79f484, committed 2019-01-14

Comitter:

nxf46245

Date:

Mon Jan 14 17:48:02 2019 +0000

Parent:

3:ce69ad70270a

Commit message:

Code cleaning, added timeout between two goals

Changed in this revision

diff -r ce69ad70270a -r fc48ef79f484 GoalCounter.cpp
--- a/GoalCounter.cpp	Sun Jan 13 16:43:27 2019 +0000
+++ b/GoalCounter.cpp	Mon Jan 14 17:48:02 2019 +0000
@@ -2,28 +2,41 @@
 
 GoalCounter::GoalCounter(PinName pin, Timer * t) : _t(t) {
     
-    InterruptIn *_interrupt = new InterruptIn(pin);
+    InterruptIn *_interrupt = new InterruptIn(pin); // Initialize instace of InterruptIn
+    // It has to be done dynamically because of non-copyable class
      
-    _interrupt->fall(callback(this, &GoalCounter::tstart));
+    _interrupt->fall(callback(this, &GoalCounter::tstart)); // Set callbacks to timer
     _interrupt->rise(callback(this, &GoalCounter::tstop));
     
     _score = 0;
     _time = 0;
-    is_goal = 0; 
+    is_goal = 0;
+    _begin = 0;
+    _end = 0;
+    _last_end = 0;
+    _time_between = 0;
+    
+    _t->start(); 
+}
+
+GoalCounter::~GoalCounter()
+{
+    delete[] _interrupt; // free up dynamically allocated memory
 }
          
 void GoalCounter::tstart() {
-    _t->start();
+    _begin = _t->read(); // read value of the timer
 }
 
 void GoalCounter::tstop() {
-    _t->stop();
-    _time = _t->read();
-    _t->reset();
-    
-    if ( _time > 0 && _time < 2 && _score < 10) {
+    _end = _t->read();
+    _time = _end - _begin;
+    _time_between = _begin - _last_end;
+
+    if ( _time > 0 && _time < 2 && _score < 10  && _time_between > 1) {
        _score++;
        _balltimes[_score] = _time;
+       _last_end = _end;
        is_goal = 1;
     }     
 }
@@ -34,7 +47,7 @@
 }
 
 float GoalCounter::get_balltime(uint8_t score) {
-    if (score <= 10 && score > 0)
+    if (score <= _score && score > 0)
         return _balltimes[score];
     else
         return -1;   
@@ -46,7 +59,7 @@
 }
 
 float GoalCounter::get_ballspeed(uint8_t score) {
-    if (score <= 10 && score > 0) {
+    if (score <= _score && score > 0) {
         float speed = 0.034f/_balltimes[score]*3.6f;
         return speed;
     }

diff -r ce69ad70270a -r fc48ef79f484 GoalCounter.h
--- a/GoalCounter.h	Sun Jan 13 16:43:27 2019 +0000
+++ b/GoalCounter.h	Mon Jan 14 17:48:02 2019 +0000
@@ -36,19 +36,27 @@
 class GoalCounter {
 public:
     /**
-    * Constructor
+    *   Constructor
     *
-    * @param pin Input pin where is the outpout of phototransistor connected
-    * @param timer reference to the Timer instance
+    *   @param pin Input pin where is the outpout of phototransistor connected
+    *   @param timer reference to the Timer instance
     *
     */
-    GoalCounter(PinName pin, Timer * t);  
+    GoalCounter(PinName pin, Timer * t);
     /**
-    *   Starts the timer, this function is called from the interrupt pin callback
+    *   Destructor
+    *
+    *   Destroys instance
+    */
+    ~GoalCounter();   
+    /**
+    *   Reads value of the timer, 
+    *   this function is called from the interrupt pin fall edge callback
     */
     void tstart();
     /**
-    *   Stops the timer, this function is called from the interrupt pin callback
+    *   Reads value from the timer and measures interval between end and beginning
+    *   Called from the interrupt pin rise edge callback
     */
     void tstop();
     /**
@@ -79,7 +87,7 @@
     */
     float get_ballspeed();
     /**
-    *  Variable is 1 when the goal is detected
+    *  Variable is 1 (true) when the goal is detected
     */
     volatile uint8_t is_goal;
 
@@ -87,9 +95,12 @@
     InterruptIn * _interrupt;
     volatile uint8_t _score;
     Timer * _t;
-    float _balltimes[11];
+    float _balltimes[11]; // sorry for the FP arithmetics, i was too lazy to rewrite it
     float _time;
-      
+    float _begin;
+    float _end;
+    float _last_end;
+    float _time_between;      
 };
 
 #endif 
\ No newline at end of file