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.cpp

Committer:
ericoneill
Date:
2015-03-20
Revision:
9:d3909d9325e4
Parent:
5:764c2ffb523a
Child:
11:f8aa39c19477

File content as of revision 9:d3909d9325e4:

#include <encoder.h>

//Observed average speeds for each duty cycle
const float TUNING_CONSTANT_20 = 3.00;
const float TUNING_CONSTANT_30 = 4.30;
const float TUNING_CONSTANT_50 = 6.880;
const float PI = 3.14159;
const float WHEEL_CIRCUMFERENCE = .05*PI;

//Velocity Control Tuning Constants
const float TUNE_THRESH = 0.5f;
const float TUNE_AMT = 0.1f;



float Encoder::get_speed(){
    float revPerSec = (1.0f/((float)avg_interval*.000001))*.25f;
    float linearSpeed = revPerSec * WHEEL_CIRCUMFERENCE;
    return linearSpeed;
}