While you are working on ISR

[EncomLab]

Morning Stefan! The other way in which I am currently using interrupts for the robot platform is to handle the output from optical rotary encoders. I currently just use this to get a step count by assigning a ENCODERA or ENCODERB command to a variable and assigning the encoder a pin number. Then I just use the variable in an IF statement to issue a STOP command to the motors.

`
//MOTOR AND ENCODER FUNCTIONS
//soft reset
void interruptFunctionSR() {
xbreak();
}

//encoder a
volatile uint16_t interruptCountA = 0;
void interruptFunctionA() {
interruptCountA++;
}

void xencodera() {
x = pop();
short int encoderaPin;
encoderaPin = pinNum(x);

pinMode(encoderaPin, INPUT_PULLUP);
enableInterrupt(encoderaPin, interruptFunctionA, CHANGE);

push(interruptCountA);

}

//encoder b
volatile uint16_t interruptCountB = 0;
void interruptFunctionB() {
interruptCountB++;
}

void xencoderb() {
x = pop();
short int encoderbPin;
encoderbPin = pinNum(x);

pinMode(encoderbPin, INPUT_PULLUP);
enableInterrupt(encoderbPin, interruptFunctionB, CHANGE);

push(interruptCountB);

}`

[slviajero]

Looks very good. That is exactly following the logic of the interpreter. I need to think about how to generalise this. BASIC is not the ideal language to handle interrupts because there is no way to define procedures / call backs.

…

Am 18.10.2022 um 11:56 schrieb Encom Lab ***@***.***>: Morning Stefan! The other way in which I am currently using interrupts for the robot platform is to handle the output from optical rotary encoders. I currently just use this to get a step count by assigning a ENCODERA or ENCODERB command to a variable and assigning the encoder a pin number. Then I just use the variable in an IF statement to issue a STOP command to the motors. `//MOTOR AND ENCODER FUNCTIONS //soft reset void interruptFunctionSR() { xbreak(); } //encoder a volatile uint16_t interruptCountA = 0; void interruptFunctionA() { interruptCountA++; } void xencodera() { x = pop(); short int encoderaPin; encoderaPin = pinNum(x); pinMode(encoderaPin, INPUT_PULLUP); enableInterrupt(encoderaPin, interruptFunctionA, CHANGE); push(interruptCountA); } //encoder b volatile uint16_t interruptCountB = 0; void interruptFunctionB() { interruptCountB++; } void xencoderb() { x = pop(); short int encoderbPin; encoderbPin = pinNum(x); pinMode(encoderbPin, INPUT_PULLUP); enableInterrupt(encoderbPin, interruptFunctionB, CHANGE); push(interruptCountB); }` — Reply to this email directly, view it on GitHub <#31>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACSY56DMPGX5ZBTOT6M7XP3WDZX6HANCNFSM6AAAAAARH43FFU>. You are receiving this because you are subscribed to this thread.

[slviajero]

Just for info, I now have released the first code with built-in interrupt code. It is documented in the MANUAL, the command EVENT is doing the interrupt stuff. Still working to improve it.