Correct way to implement interrupts inside a class (Pi Pico W)

[gfvalvo]

@rdafz

I'm facing some trouble implementing the interrupts for the motor encoders.

@theboot

In your h file add in your class

static RobotControl* handlerInstance;

At the top of your cpp file
RobotControl* RobotControl::handlerInstance = nullptr;

In your RobotControl constructor
HandlerInstance = this;

Attach your interrupt

attachInterrupt(digitalPinToInterrupt(pinIRQ),StaticIRQHandler,FALLING);

Create a method in your robotcontrol class

That method will only support a single instance of the MotorController class. You can do it for an arbitrary number of instances (up to the maximum number of interrupt pins), but it requires some template trickery. See Post #44 in this Thread.