progress on case study on motor.c

added intersection to interval
improved

examples/example92.cpp

@@ -0,0 +1,85 @@
+//////////////////////////////////////////////////////////////////
+// example91.cpp
+//
+// Copyright (c) 2015 Robert Ramey
+//
+// Distributed under the Boost Software License, Version 1.0. (See
+// accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+
+#include <iostream>
+#include <limits>
+#include <boost/integer.hpp>
+
+#include "../include/cpp.hpp"
+#include "../include/automatic.hpp"
+#include "../include/exception.hpp"
+#include "../include/safe_integer.hpp"
+#include "../include/safe_range.hpp"
+#include "../include/safe_literal.hpp"
+
+// use same type promotion as used by the pic compiler
+// see the following comment in motor.c
+// Types: int8,int16,int32=8,16,32bit integers, unsigned by default
+
+using pic16_promotion = boost::numeric::cpp<
+    8,  // char
+    8,  // short
+    8,  // int
+    16, // long
+    32  // long long
+>;
+
+// define safe types used desktop version of the program.  In conjunction
+// with the promotion policy above, this will permit us to guarantee that
+// the resulting program will be free of arithmetic errors introduced by
+// C expression syntax and type promotion with no runtime penalty
+template <typename T> // T is char, int, etc data type
+using safe_t = boost::numeric::safe<
+    T,
+    pic16_promotion,
+    boost::numeric::throw_exception // use for compiling and running tests
+>;
+using safe_bool_t = boost::numeric::safe_unsigned_range<
+    0,
+    1,
+    pic16_promotion,
+    boost::numeric::throw_exception // use for compiling and running tests
+>;
+
+#define DESKTOP
+#include "motor2.c"
+
+#include <chrono>
+#include <thread>
+
+void test(int16 m){
+    std::cout << "move motor to " << m << '\n';
+    int i = 0;
+    motor_run(m);
+    do{
+        isr_motor_step();
+        std::cout << ++i << ' ' << c32 << ' ' << c << '\n';
+        std::this_thread::sleep_for(std::chrono::microseconds(ccpr));
+    }while(run_flg);
+}
+
+int main()
+{
+    std::cout << "start test\n";
+    try{
+        initialize();
+        // move motor to position 100
+        test(100);
+        // move motor to position 1000
+        //test(1000);
+        // move back to position 0
+        test(0);
+    }
+    catch(...){
+        std::cout << "test interrupted\n";
+        return 1;
+    }
+    std::cout << "end test\n";
+    return 0;
+}