Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PwmIn/PwmIn.cpp@19:a6cf15f89f3d, 2016-11-02 (annotated)

Committer:
bwang
Date:
Wed Nov 02 12:52:00 2016 +0000
Revision:
19:a6cf15f89f3d
Parent:
18:3863ca45cf26
Child:
75:591556ce033d
formatting changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 19:a6cf15f89f3d 1 #include "mbed.h"
bwang 18:3863ca45cf26 2 #include "PwmIn.h"
bwang 19:a6cf15f89f3d 3 #include "MathHelpers.h"
dicarloj 13:41d102a53caf 4
bwang 16:f283d6032fe5 5 PwmIn::PwmIn(PinName pin, int usec_min, int usec_max)
dicarloj 13:41d102a53caf 6 {
dicarloj 13:41d102a53caf 7 int_in = new InterruptIn(pin);
dicarloj 13:41d102a53caf 8 dig_in = new DigitalIn(pin);
bwang 16:f283d6032fe5 9 int_in->rise(this, &PwmIn::handle_rise);
bwang 16:f283d6032fe5 10 int_in->fall(this, &PwmIn::handle_fall);
dicarloj 13:41d102a53caf 11 this->usec_min = usec_min;
dicarloj 13:41d102a53caf 12 this->usec_max = usec_max;
dicarloj 13:41d102a53caf 13 }
dicarloj 13:41d102a53caf 14
dicarloj 13:41d102a53caf 15
bwang 16:f283d6032fe5 16 bool PwmIn::get_enabled()
dicarloj 13:41d102a53caf 17 {
dicarloj 13:41d102a53caf 18 return enabled;
dicarloj 13:41d102a53caf 19 }
dicarloj 13:41d102a53caf 20
bwang 16:f283d6032fe5 21 void PwmIn::handle_rise()
dicarloj 13:41d102a53caf 22 {
dicarloj 13:41d102a53caf 23 enabled = true;
dicarloj 13:41d102a53caf 24 timer.stop();
dicarloj 13:41d102a53caf 25 timer.reset();
dicarloj 13:41d102a53caf 26 timer.start();
dicarloj 13:41d102a53caf 27 was_on = true;
dicarloj 13:41d102a53caf 28 }
dicarloj 13:41d102a53caf 29
bwang 16:f283d6032fe5 30 void PwmIn::handle_fall()
dicarloj 13:41d102a53caf 31 {
dicarloj 13:41d102a53caf 32 was_on = false;
dicarloj 13:41d102a53caf 33 usecs = timer.read_us();
dicarloj 13:41d102a53caf 34 timer.stop();
dicarloj 13:41d102a53caf 35 timer.reset();
dicarloj 13:41d102a53caf 36 timer.start();
dicarloj 13:41d102a53caf 37 }
dicarloj 13:41d102a53caf 38
bwang 16:f283d6032fe5 39 float PwmIn::get_throttle()
dicarloj 13:41d102a53caf 40 {
dicarloj 13:41d102a53caf 41 if(timer.read_us() > 40000) enabled = false;
dicarloj 13:41d102a53caf 42 if(!enabled) return -1;
dicarloj 13:41d102a53caf 43 return constrain(map((float)usecs, usec_min, usec_max, 0, 1), 0, 1);
dicarloj 13:41d102a53caf 44 }
dicarloj 13:41d102a53caf 45