Cooper Liu
/
Eurobot2013_Co-Processor
working version with calibration done
Fork of Eurobot2013 by
IR_Turret/PwmIn/PwmIn.cpp
- Committer:
- xiaxia686
- Date:
- 2013-04-09
- Revision:
- 11:5ba926692210
- Parent:
- IR/PwmIn/PwmIn.cpp@ 10:2bd9f4e02b74
File content as of revision 11:5ba926692210:
/* mbed PwmIn Library * Copyright (c) 2008-2010, sford * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "PwmIn.h" #include "IR_Turret.h" #include "globals.h" PwmIn::PwmIn(PinName p) : _p(p) { #ifdef PWM_INVERT _p.rise(this, &PwmIn::fall); _p.fall(this, &PwmIn::rise); #else _p.rise(this, &PwmIn::rise); _p.fall(this, &PwmIn::fall); #endif _period = 0.0; _pulsewidth = 0.0; _t.start(); //init callabck function callbackfunc = NULL; callbackobj = NULL; mcallbackfunc = NULL; } float PwmIn::period() { return _period; } float PwmIn::pulsewidth() { return _pulsewidth; } float PwmIn::dutycycle() { return _pulsewidth / _period; } void PwmIn::rise() { _period = _t.read_us(); _t.reset(); } void PwmIn::fall() { _pulsewidth = _t.read_us(); if (callbackfunc) (*callbackfunc)(_pulsewidth); if (callbackobj && mcallbackfunc) (callbackobj->*mcallbackfunc)(_pulsewidth); }