E=MC / Mbed 2 deprecated figure_eight

Code for the car to drive in a figure eight motion

Dependencies:   mbed-rtos mbed MODSERIAL mbed-dsp telemetry

encoder.h@23:d8cacd996cce, 2015-03-20 (annotated)

Committer:
cheryl_he
Date:
Fri Mar 20 09:49:57 2015 +0000
Revision:
23:d8cacd996cce
Parent:
13:97708869a4ba 
telemetry stuff is compiling, needs to be debugged

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ericoneill 5:764c2ffb523a 1 #ifndef ENCODER_H
ericoneill 5:764c2ffb523a 2 #define ENCODER_H
ericoneill 5:764c2ffb523a 3
ericoneill 13:97708869a4ba 4 #include "mbed.h"
ericoneill 13:97708869a4ba 5
ericoneill 13:97708869a4ba 6
ericoneill 11:f8aa39c19477 7 class Encoder{
ericoneill 13:97708869a4ba 8 Timer t;
ericoneill 13:97708869a4ba 9
ericoneill 9:d3909d9325e4 10 //Intervals used during encoder data collection to measure velocity
ericoneill 9:d3909d9325e4 11 int interval1;
ericoneill 9:d3909d9325e4 12 int interval2;
ericoneill 9:d3909d9325e4 13 int interval3;
ericoneill 9:d3909d9325e4 14 int avg_interval;
ericoneill 9:d3909d9325e4 15 int lastchange1;
ericoneill 9:d3909d9325e4 16 int lastchange2;
ericoneill 9:d3909d9325e4 17 int lastchange3;
ericoneill 9:d3909d9325e4 18 int lastchange4;
ericoneill 9:d3909d9325e4 19
ericoneill 9:d3909d9325e4 20 //Variables used to for velocity control
ericoneill 9:d3909d9325e4 21 float avg_speed;
ericoneill 9:d3909d9325e4 22 float stall_check;
ericoneill 9:d3909d9325e4 23 float tuning_val;
ericoneill 9:d3909d9325e4 24
ericoneill 9:d3909d9325e4 25 // Servo parameters
ericoneill 9:d3909d9325e4 26 float lastTurnTime;
ericoneill 9:d3909d9325e4 27 bool servoLeft;
ericoneill 9:d3909d9325e4 28
ericoneill 9:d3909d9325e4 29 //Parameters specifying sample sizes and delays for small and large average speed samples
ericoneill 9:d3909d9325e4 30 float num_samples_small;
ericoneill 9:d3909d9325e4 31 float delay_small;
ericoneill 9:d3909d9325e4 32 float num_samples_large;
ericoneill 9:d3909d9325e4 33 float delay_large;
ericoneill 9:d3909d9325e4 34
ericoneill 9:d3909d9325e4 35 // Large and small arrays used to get average velocity values
ericoneill 9:d3909d9325e4 36 float large_avg_speed_list [100];
ericoneill 9:d3909d9325e4 37 float small_avg_speed_list [10];
ericoneill 5:764c2ffb523a 38 public:
ericoneill 13:97708869a4ba 39 Encoder(Timer t);
ericoneill 13:97708869a4ba 40 float velocity_control(float duty_cyc, float tuning_const);
ericoneill 5:764c2ffb523a 41 void fallInterrupt();
ericoneill 5:764c2ffb523a 42 void riseInterrupt();
ericoneill 5:764c2ffb523a 43 private:
ericoneill 9:d3909d9325e4 44 // Internal functions
ericoneill 5:764c2ffb523a 45 float get_speed();
ericoneill 5:764c2ffb523a 46 float get_avg_speed(float num_samples, float delay);
ericoneill 9:d3909d9325e4 47 };
ericoneill 9:d3909d9325e4 48
ericoneill 11:f8aa39c19477 49
ericoneill 9:d3909d9325e4 50 #endif