CRAC Team / CRAC-Strat_2017-19-05-2017

strat des robots

Fork of CRAC-Strat_2017 by CRAC Team

mbed/Ticker.h@17:d1594579eec6, 2017-05-19 (annotated)

Committer:
ClementBreteau
Date:
Fri May 19 17:14:07 2017 +0000
Revision:
17:d1594579eec6
Parent:
0:ad97421fb1fb 
strat du robot, 19-05-2017, 19h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 /* mbed Microcontroller Library - Ticker
antbig 0:ad97421fb1fb 2 * Copyright (c) 2007-2009 ARM Limited. All rights reserved.
antbig 0:ad97421fb1fb 3 */
antbig 0:ad97421fb1fb 4
antbig 0:ad97421fb1fb 5 #ifndef MBED_TICKER_H
antbig 0:ad97421fb1fb 6 #define MBED_TICKER_H
antbig 0:ad97421fb1fb 7
antbig 0:ad97421fb1fb 8 #include "TimerEvent.h"
antbig 0:ad97421fb1fb 9 #include "FunctionPointer.h"
antbig 0:ad97421fb1fb 10
antbig 0:ad97421fb1fb 11 namespace mbed {
antbig 0:ad97421fb1fb 12
antbig 0:ad97421fb1fb 13 /* Class: Ticker
antbig 0:ad97421fb1fb 14 * A Ticker is used to call a function at a recurring interval
antbig 0:ad97421fb1fb 15 *
antbig 0:ad97421fb1fb 16 * You can use as many seperate Ticker objects as you require.
antbig 0:ad97421fb1fb 17 *
antbig 0:ad97421fb1fb 18 * Example:
antbig 0:ad97421fb1fb 19 * > // Toggle the blinking led after 5 seconds
antbig 0:ad97421fb1fb 20 * >
antbig 0:ad97421fb1fb 21 * > #include "mbed.h"
antbig 0:ad97421fb1fb 22 * >
antbig 0:ad97421fb1fb 23 * > Ticker timer;
antbig 0:ad97421fb1fb 24 * > DigitalOut led1(LED1);
antbig 0:ad97421fb1fb 25 * > DigitalOut led2(LED2);
antbig 0:ad97421fb1fb 26 * >
antbig 0:ad97421fb1fb 27 * > int flip = 0;
antbig 0:ad97421fb1fb 28 * >
antbig 0:ad97421fb1fb 29 * > void attime() {
antbig 0:ad97421fb1fb 30 * > flip = !flip;
antbig 0:ad97421fb1fb 31 * > }
antbig 0:ad97421fb1fb 32 * >
antbig 0:ad97421fb1fb 33 * > int main() {
antbig 0:ad97421fb1fb 34 * > timer.attach(&attime, 5);
antbig 0:ad97421fb1fb 35 * > while(1) {
antbig 0:ad97421fb1fb 36 * > if(flip == 0) {
antbig 0:ad97421fb1fb 37 * > led1 = !led1;
antbig 0:ad97421fb1fb 38 * > } else {
antbig 0:ad97421fb1fb 39 * > led2 = !led2;
antbig 0:ad97421fb1fb 40 * > }
antbig 0:ad97421fb1fb 41 * > wait(0.2);
antbig 0:ad97421fb1fb 42 * > }
antbig 0:ad97421fb1fb 43 * > }
antbig 0:ad97421fb1fb 44 *
antbig 0:ad97421fb1fb 45 */
antbig 0:ad97421fb1fb 46 class Ticker : public TimerEvent {
antbig 0:ad97421fb1fb 47
antbig 0:ad97421fb1fb 48 public:
antbig 0:ad97421fb1fb 49
antbig 0:ad97421fb1fb 50 /* Function: attach
antbig 0:ad97421fb1fb 51 * Attach a function to be called by the Ticker, specifiying the interval in seconds
antbig 0:ad97421fb1fb 52 *
antbig 0:ad97421fb1fb 53 * Variables:
antbig 0:ad97421fb1fb 54 * fptr - pointer to the function to be called
antbig 0:ad97421fb1fb 55 * t - the time between calls in seconds
antbig 0:ad97421fb1fb 56 */
antbig 0:ad97421fb1fb 57 void attach(void (*fptr)(void), float t) {
antbig 0:ad97421fb1fb 58 attach_us(fptr, t * 1000000.0f);
antbig 0:ad97421fb1fb 59 }
antbig 0:ad97421fb1fb 60
antbig 0:ad97421fb1fb 61 /* Function: attach
antbig 0:ad97421fb1fb 62 * Attach a member function to be called by the Ticker, specifiying the interval in seconds
antbig 0:ad97421fb1fb 63 *
antbig 0:ad97421fb1fb 64 * Variables:
antbig 0:ad97421fb1fb 65 * tptr - pointer to the object to call the member function on
antbig 0:ad97421fb1fb 66 * mptr - pointer to the member function to be called
antbig 0:ad97421fb1fb 67 * t - the time between calls in seconds
antbig 0:ad97421fb1fb 68 */
antbig 0:ad97421fb1fb 69 template<typename T>
antbig 0:ad97421fb1fb 70 void attach(T* tptr, void (T::*mptr)(void), float t) {
antbig 0:ad97421fb1fb 71 attach_us(tptr, mptr, t * 1000000.0f);
antbig 0:ad97421fb1fb 72 }
antbig 0:ad97421fb1fb 73
antbig 0:ad97421fb1fb 74 /* Function: attach_us
antbig 0:ad97421fb1fb 75 * Attach a function to be called by the Ticker, specifiying the interval in micro-seconds
antbig 0:ad97421fb1fb 76 *
antbig 0:ad97421fb1fb 77 * Variables:
antbig 0:ad97421fb1fb 78 * fptr - pointer to the function to be called
antbig 0:ad97421fb1fb 79 * t - the time between calls in micro-seconds
antbig 0:ad97421fb1fb 80 */
antbig 0:ad97421fb1fb 81 void attach_us(void (*fptr)(void), unsigned int t) {
antbig 0:ad97421fb1fb 82 _function.attach(fptr);
antbig 0:ad97421fb1fb 83 setup(t);
antbig 0:ad97421fb1fb 84 }
antbig 0:ad97421fb1fb 85
antbig 0:ad97421fb1fb 86 /* Function: attach_us
antbig 0:ad97421fb1fb 87 * Attach a member function to be called by the Ticker, specifiying the interval in micro-seconds
antbig 0:ad97421fb1fb 88 *
antbig 0:ad97421fb1fb 89 * Variables:
antbig 0:ad97421fb1fb 90 * tptr - pointer to the object to call the member function on
antbig 0:ad97421fb1fb 91 * mptr - pointer to the member function to be called
antbig 0:ad97421fb1fb 92 * t - the time between calls in micro-seconds
antbig 0:ad97421fb1fb 93 */
antbig 0:ad97421fb1fb 94 template<typename T>
antbig 0:ad97421fb1fb 95 void attach_us(T* tptr, void (T::*mptr)(void), unsigned int t) {
antbig 0:ad97421fb1fb 96 _function.attach(tptr, mptr);
antbig 0:ad97421fb1fb 97 setup(t);
antbig 0:ad97421fb1fb 98 }
antbig 0:ad97421fb1fb 99
antbig 0:ad97421fb1fb 100 /* Function: detach
antbig 0:ad97421fb1fb 101 * Detach the function
antbig 0:ad97421fb1fb 102 */
antbig 0:ad97421fb1fb 103 void detach();
antbig 0:ad97421fb1fb 104
antbig 0:ad97421fb1fb 105 protected:
antbig 0:ad97421fb1fb 106
antbig 0:ad97421fb1fb 107 void setup(unsigned int t);
antbig 0:ad97421fb1fb 108 virtual void handler();
antbig 0:ad97421fb1fb 109
antbig 0:ad97421fb1fb 110 unsigned int _delay;
antbig 0:ad97421fb1fb 111 FunctionPointer _function;
antbig 0:ad97421fb1fb 112
antbig 0:ad97421fb1fb 113 };
antbig 0:ad97421fb1fb 114
antbig 0:ad97421fb1fb 115 } // namespace mbed
antbig 0:ad97421fb1fb 116
antbig 0:ad97421fb1fb 117 #endif