RioBotz / Mbed 2 deprecated mbed_encoder

Mapeamento de pista

Dependencies:   mbed

main.cpp

Committer:
raylaneleite
Date:
2020-09-06
Revision:
0:c6afbc8aadcb

File content as of revision 0:c6afbc8aadcb:

#include "mbed.h"

InterruptIn interrupt_right(p9);
InterruptIn interrupt_left(p10);

DigitalIn line_right(p13);
DigitalIn line_left(p14);


int i = 0;
int LL;
int LR;
float perimetro_roda_tick = (2*3.14*16)/(12*10);
int giro_right = 0;
int giro_left = 0;
float mapa[50][2];

void conta_giro_right()
{
    giro_right++;
}

void conta_giro_left()
{
    giro_left++;
}

void mapeamento()
{
    mapa[i][0] = giro_left*perimetro_roda_tick;
    mapa[i][1] = giro_right*perimetro_roda_tick;  
    if (LL == 1)
            i++;
    giro_right = 0;
    giro_left = 0; 
}


int main() 
{
    interrupt_right.rise(&conta_giro_right);
    interrupt_left.rise(&conta_giro_left);   
    while(1) 
    {
        LR = line_right.read();
        LL = line_left.read();
        if (LR == 1 || LL == 1)
            mapeamento();   
    }
}