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);

}`

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[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.