David Grayson
Library to help schedule events to run regularly in the main loop. This library does not have much documentation and is not really intended for public use yet.
Dependents: LineFollowing DeadReckoning
Revision 0:ffaf699a4eea, committed 2014-02-20
- Comitter:
- DavidEGrayson
- Date:
- Thu Feb 20 18:54:56 2014 +0000
- Child:
- 1:415086687bce
- Commit message:
- Initial commit. It works!
Changed in this revision
| Pacer.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Pacer.h Thu Feb 20 18:54:56 2014 +0000
@@ -0,0 +1,50 @@
+#include <mbed.h>
+
+class Pacer
+{
+ public:
+ Pacer(int32_t pace_us)
+ : pace_us(pace_us), last_time(0)
+ {
+ timer.start();
+ }
+
+ bool ready()
+ {
+ return (time() - last_time) >= pace_us;
+ }
+
+ // This should generally only be called when ready() is true.
+ void advance()
+ {
+ last_time += pace_us;
+ }
+
+ void clear()
+ {
+ last_time = time();
+ }
+
+ bool pace()
+ {
+ if (ready())
+ {
+ clear();
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ private:
+ uint32_t time()
+ {
+ return (uint32_t)timer.read_us(); // Cast int32_t to uint32_t.
+ }
+
+ uint32_t pace_us;
+ uint32_t last_time;
+ Timer timer;
+};
\ No newline at end of file