Micromouse 18 / Mbed 2 deprecated encoder_v2_12-3

Scaled IR readings by 10^5 so also changed thresholds. Implemented and tested LED multiplexing Working on a new turning scheme involving IR readings

Dependencies:   QEI RemoteIR mbed

Fork of encoder_v2 by Micromouse 18

main.cpp@18:14bf07a27998, 2017-12-09 (annotated)

Committer:
kensterino
Date:
Sat Dec 09 03:37:08 2017 +0000
Revision:
18:14bf07a27998
Parent:
10:707e542688dc 
works but make sure the fucking battery is charged

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joshua_Cheung 2:aa961ba3199e 1 /*
kensterino 0:b9e03a03e580 2 #include "mbed.h"
Joshua_Cheung 7:e10dc3cb9212 3 Serial pc (PA_2, PA_3);
Joshua_Cheung 7:e10dc3cb9212 4 /*
kensterino 0:b9e03a03e580 5 #include "QEI.h"
kensterino 0:b9e03a03e580 6 Serial pc (PA_2, PA_3); //serial comm enabled on pins pa_2 and pa_3
kensterino 0:b9e03a03e580 7 QEI encoder_Right(PB_3, PA_15, NC, 360, QEI::X4_ENCODING);
kensterino 0:b9e03a03e580 8 QEI encoder_Left(PA_1, PC_4, NC, 360, QEI::X4_ENCODING); //forward increases pulses
Joshua_Cheung 2:aa961ba3199e 9 PwmOut m_Right_B(PC_7);
Joshua_Cheung 2:aa961ba3199e 10 PwmOut m_Right_F(PB_10);
Joshua_Cheung 2:aa961ba3199e 11 PwmOut m_Left_F(PA_7);
Joshua_Cheung 2:aa961ba3199e 12 PwmOut m_Left_B(PB_6);
Joshua_Cheung 2:aa961ba3199e 13 */
kensterino 0:b9e03a03e580 14
Joshua_Cheung 10:707e542688dc 15 //IRR = IR Reciver
Joshua_Cheung 10:707e542688dc 16 /*AnalogIn RS_IRR(PA_0); //Right Side
Joshua_Cheung 7:e10dc3cb9212 17 AnalogIn RF_IRR(PA_4); //Right Front
Joshua_Cheung 7:e10dc3cb9212 18 AnalogIn LF_IRR(PC_1); //Left Front
Joshua_Cheung 7:e10dc3cb9212 19 AnalogIn LS_IRR(PC_0); //Left Side
Joshua_Cheung 7:e10dc3cb9212 20
Joshua_Cheung 7:e10dc3cb9212 21 //IRE = IR Emitter
Joshua_Cheung 7:e10dc3cb9212 22 DigitalOut RS_IRE(PC_10); //Right Side
Joshua_Cheung 7:e10dc3cb9212 23 DigitalOut RF_IRE(PC_11); //Right Front
Joshua_Cheung 7:e10dc3cb9212 24 DigitalOut LF_IRE(PB_0); //Left Front
Joshua_Cheung 7:e10dc3cb9212 25 DigitalOut LS_IRE(PB_7); //Left Side
Joshua_Cheung 10:707e542688dc 26 */
kensterino 0:b9e03a03e580 27 //QEI functions
kensterino 0:b9e03a03e580 28 /*
kensterino 0:b9e03a03e580 29 void reset (void)
kensterino 0:b9e03a03e580 30 Reset the encoder.
kensterino 0:b9e03a03e580 31 int getCurrentState (void)
kensterino 0:b9e03a03e580 32 Read the state of the encoder.
kensterino 0:b9e03a03e580 33 int getPulses (void)
kensterino 0:b9e03a03e580 34 Read the number of pulses recorded by the encoder.
kensterino 0:b9e03a03e580 35 int getRevolutions (void)
kensterino 0:b9e03a03e580 36 Read the number of revolutions recorded by the encoder on the index channel.
kensterino 0:b9e03a03e580 37 */
Joshua_Cheung 7:e10dc3cb9212 38
Joshua_Cheung 2:aa961ba3199e 39 /*
kensterino 0:b9e03a03e580 40 int main()
kensterino 0:b9e03a03e580 41 {
Joshua_Cheung 7:e10dc3cb9212 42 while(1)
Joshua_Cheung 7:e10dc3cb9212 43 {
Joshua_Cheung 7:e10dc3cb9212 44 LS_IRE.write(1);
Joshua_Cheung 7:e10dc3cb9212 45 float value = LS_IRR.read();
Joshua_Cheung 7:e10dc3cb9212 46 printf("IR Led: %f", value);
Joshua_Cheung 7:e10dc3cb9212 47 wait(100);
Joshua_Cheung 7:e10dc3cb9212 48 LS_IRE.write(0);
kensterino 0:b9e03a03e580 49 }
Joshua_Cheung 2:aa961ba3199e 50 }
Joshua_Cheung 2:aa961ba3199e 51 */