[Manoel]

Originally Posted by Kevin Watson

One way around this is to double the timer 2 interrupt rate and then interleave your ADC measurements within the timer 2 ISR. If there's interest, I can modify the code to include accelerometer measurements too.

-Kevin

Everyone serious about autonomous and capping this year needs a gyro and some kind of arm feedback (ie, potentiometer) yet I couldn't find any real code on reading two analog inputs. So, assuming the sample rate is doubled (800 Hz), will this code work?
Our RC is a few thousand miles away in some spooky Caribbean harbor and our EDU is locked up somewhere over at the school, so I can't really test it.

void Timer_2_Int_Handler(void)
{
	unsigned int adc_result;
	unsigned int adc_result_2;


	if (last_conversion == POTENCIOMETRO)
	{
	ADCON0bits.CHS0 = 0;
	ADCON0bits.CHS1 = 0;
	ADCON0bits.CHS2 = 0;
	ADCON0bits.CHS3 = 0;

	// get the latest ADC conversion
	adc_result = ADRESH;
	adc_result <<= 8;
	adc_result += ADRESL;

	// add the ADC data to the accumulator
	accum += adc_result;

	// increment the sample counter
	samples++;

	// start another analog to digital conversion
	ADCON0bits.GO = 1;

	// check to see if we've got a full sample set
	if(samples >= GYRO_SAMPLES_PER_UPDATE)
	{
		// should the completed sample set be used to calculate the gyro bias?
		if(calc_gyro_bias == TRUE)
		{
			// convert the accumulator to an integer and update gyro_bias
			avg_accum += accum;
			avg_samples++;
		}
		else
		{
			// update the gyro rate
			gyro_rate = (int)accum - gyro_bias;

			// integrate the gyro rate to derive the heading 
			gyro_angle += (long)gyro_rate;
		} 

		// reset the accumulator to zero
		accum = 0;

		// start a fresh sample set
		samples = 0;
	}

	last_conversion == GYRO;
	}
	else
	{
	ADCON0bits.CHS0 = 1;
	ADCON0bits.CHS1 = 0;
	ADCON0bits.CHS2 = 0;
	ADCON0bits.CHS3 = 0;
	// get the latest ADC conversion
	adc_result_2 = ADRESH;
	adc_result_2 <<= 8;
	adc_result_2 += ADRESL;
	ADCON0bits.GO = 1;
	potenciometro = adc_result_2;
        last_conversion = POTENCIOMETRO;
	}
}