Stedd
/
BalanceBot
1
0
Fork 0
Code Issues 6 Pull Requests Packages Projects 1 Releases Wiki Activity

Moved interrupt to separate function

This commit is contained in:
Stedd 2019-12-23 14:13:37 +01:00
parent 1f1afebd98
commit 050c1156f2
3 changed files with 116 additions and 115 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

117
Main/Main.ino
View File

@ -46,110 +46,6 @@ mtx_type vel_Matrix [2][1];
mtx_type inv_Kin [2][2]; mtx_type inv_Kin [2][2];
//Interrupt routines
void IRAM_ATTR m1_A_changed() {
M1_A_state = digitalRead(M1_ENC_A);
M1_B_state = digitalRead(M1_ENC_B);
//Rising
if (M1_A_state == HIGH) {
if (M1_B_state == HIGH) {
m1Raw = m1Raw - 1;
}
else if (M1_B_state == LOW) {
m1Raw = m1Raw + 1;
}
}
//Falling
else if (M1_A_state == LOW) {
if (M1_B_state == HIGH) {
m1Raw = m1Raw + 1;
}
else if (M1_B_state == LOW) {
m1Raw = m1Raw - 1;
}
}
}
void IRAM_ATTR m1_B_changed() {
M1_A_state = digitalRead(M1_ENC_A);
M1_B_state = digitalRead(M1_ENC_B);
//Rising
if (M1_B_state == HIGH) {
if (M1_A_state == HIGH) {
m1Raw = m1Raw + 1;
}
else if (M1_A_state == LOW) {
m1Raw = m1Raw - 1;
}
}
//Falling
else if (M1_B_state == LOW) {
if (M1_A_state == HIGH) {
m1Raw = m1Raw - 1;
}
else if (M1_A_state == LOW) {
m1Raw = m1Raw + 1;
}
}
}
void IRAM_ATTR m2_A_changed() {
M2_A_state = digitalRead(M2_ENC_A);
M2_B_state = digitalRead(M2_ENC_B);
//Rising
if (M2_A_state == HIGH) {
if (M2_B_state == HIGH) {
m2Raw = m2Raw + 1;
}
else if (M2_B_state == LOW) {
m2Raw = m2Raw - 1;
}
}
//Falling
else if (M2_A_state == LOW) {
if (M2_B_state == HIGH) {
m2Raw = m2Raw - 1;
}
else if (M2_B_state == LOW) {
m2Raw = m2Raw + 1;
}
}
}
void IRAM_ATTR m2_B_changed() {
M2_A_state = digitalRead(M2_ENC_A);
M2_B_state = digitalRead(M2_ENC_B);
//Rising
if (M2_B_state == HIGH) {
if (M2_A_state == HIGH) {
m2Raw = m2Raw - 1;
}
else if (M2_A_state == LOW) {
m2Raw = m2Raw + 1;
}
}
//Falling
else if (M2_B_state == LOW) {
if (M2_A_state == HIGH) {
m2Raw = m2Raw + 1;
}
else if (M2_A_state == LOW) {
m2Raw = m2Raw - 1;
}
}
}
void setup() { void setup() {
//Initialize serial //Initialize serial
Serial.begin(57600); Serial.begin(57600);
@ -166,14 +62,8 @@ void setup() {
delay(10); delay(10);
//Initialize encoder interrupts //Initialize encoder interrupts
pinMode(M1_ENC_A, INPUT_PULLUP); initInterrupt();
pinMode(M1_ENC_B, INPUT_PULLUP);
pinMode(M2_ENC_A, INPUT_PULLUP);
pinMode(M2_ENC_B, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(M1_ENC_A), m1_A_changed, CHANGE);
attachInterrupt(digitalPinToInterrupt(M1_ENC_B), m1_B_changed, CHANGE);
attachInterrupt(digitalPinToInterrupt(M2_ENC_A), m2_A_changed, CHANGE);
attachInterrupt(digitalPinToInterrupt(M2_ENC_B), m2_B_changed, CHANGE);
//Initialize encoders //Initialize encoders
m1Raw = 0; m1Raw = 0;
@ -182,9 +72,6 @@ void setup() {
m2RawLast = 100; m2RawLast = 100;
// Initialize PWM channels // Initialize PWM channels
// channels 0-15, resolution 1-16 bits, freq limits depend on resolution
// ledcSetup(uint8_t channel, uint32_t freq, uint8_t resolution_bits);
ledcAttachPin(M1_A, 1); ledcAttachPin(M1_A, 1);
ledcAttachPin(M1_B, 2); ledcAttachPin(M1_B, 2);
ledcAttachPin(M2_A, 3); ledcAttachPin(M2_A, 3);

114
Main/interrupt.ino Normal file
View File

@ -0,0 +1,114 @@
//Interrupt routines
void IRAM_ATTR m1_A_changed() {
M1_A_state = digitalRead(M1_ENC_A);
M1_B_state = digitalRead(M1_ENC_B);
//Rising
if (M1_A_state == HIGH) {
if (M1_B_state == HIGH) {
m1Raw = m1Raw - 1;
}
else if (M1_B_state == LOW) {
m1Raw = m1Raw + 1;
}
}
//Falling
else if (M1_A_state == LOW) {
if (M1_B_state == HIGH) {
m1Raw = m1Raw + 1;
}
else if (M1_B_state == LOW) {
m1Raw = m1Raw - 1;
}
}
}
void IRAM_ATTR m1_B_changed() {
M1_A_state = digitalRead(M1_ENC_A);
M1_B_state = digitalRead(M1_ENC_B);
//Rising
if (M1_B_state == HIGH) {
if (M1_A_state == HIGH) {
m1Raw = m1Raw + 1;
}
else if (M1_A_state == LOW) {
m1Raw = m1Raw - 1;
}
}
//Falling
else if (M1_B_state == LOW) {
if (M1_A_state == HIGH) {
m1Raw = m1Raw - 1;
}
else if (M1_A_state == LOW) {
m1Raw = m1Raw + 1;
}
}
}
void IRAM_ATTR m2_A_changed() {
M2_A_state = digitalRead(M2_ENC_A);
M2_B_state = digitalRead(M2_ENC_B);
//Rising
if (M2_A_state == HIGH) {
if (M2_B_state == HIGH) {
m2Raw = m2Raw + 1;
}
else if (M2_B_state == LOW) {
m2Raw = m2Raw - 1;
}
}
//Falling
else if (M2_A_state == LOW) {
if (M2_B_state == HIGH) {
m2Raw = m2Raw - 1;
}
else if (M2_B_state == LOW) {
m2Raw = m2Raw + 1;
}
}
}
void IRAM_ATTR m2_B_changed() {
M2_A_state = digitalRead(M2_ENC_A);
M2_B_state = digitalRead(M2_ENC_B);
//Rising
if (M2_B_state == HIGH) {
if (M2_A_state == HIGH) {
m2Raw = m2Raw - 1;
}
else if (M2_A_state == LOW) {
m2Raw = m2Raw + 1;
}
}
//Falling
else if (M2_B_state == LOW) {
if (M2_A_state == HIGH) {
m2Raw = m2Raw + 1;
}
else if (M2_A_state == LOW) {
m2Raw = m2Raw - 1;
}
}
}
void initInterrupt(){
pinMode(M1_ENC_A, INPUT_PULLUP);
pinMode(M1_ENC_B, INPUT_PULLUP);
pinMode(M2_ENC_A, INPUT_PULLUP);
pinMode(M2_ENC_B, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(M1_ENC_A), m1_A_changed, CHANGE);
attachInterrupt(digitalPinToInterrupt(M1_ENC_B), m1_B_changed, CHANGE);
attachInterrupt(digitalPinToInterrupt(M2_ENC_A), m2_A_changed, CHANGE);
attachInterrupt(digitalPinToInterrupt(M2_ENC_B), m2_B_changed, CHANGE);
}

0
Main/plotter.ino → Main/plot.ino
View File