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#pragma once
#include "servo.h"
#include "lib/adc.h"
#include "lib/usart.h"
//Working from 25° to 140°
class Controller
{
//Enums
public:
enum servo_positions
{
OPEN_POSITION = 40,
CLOSE_POSITION = 120
};
//Instances
public:
servo_class servo;
adc_class adc;
usart uart;
//Variables
public:
volatile uint16_t current_positive;
volatile uint16_t current_negative;
volatile uint8_t channel;
//Methods
public:
Controller();
void timer0_handler()
{
adc.start_conversion();
}
void adc_handler()
{
switch (channel)
{
case 0: current_positive = ADC;
channel++;
adc.set_channel(adc.ADC1);
adc.start_conversion();
break;
case 1: current_negative = ADC;
channel = 0;
adc.set_channel(adc.ADC0);
default: channel = 0;
break;
}
}
void print_debug();
};
extern Controller controller;