Terrabots / Mbed 2 deprecated Tracker

official library and example code for tracking X and Y positions on the dump truck

Dependencies:   QEI mbed

Dependents:   DUMP_TRUCK_TEST_V1 DUMP_TRUCK_SPR2017

Tracker.h@0:8038ea3ee241, 2017-01-26 (annotated)

Committer:
simplyellow
Date:
Thu Jan 26 20:06:55 2017 +0000
Revision:
0:8038ea3ee241
Child:
5:757a984ac553
official library and example code for tracking the X and Y positions of the dump truck

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simplyellow 0:8038ea3ee241 1 #ifndef TRACKER_H
simplyellow 0:8038ea3ee241 2 #define TRACKER_H
simplyellow 0:8038ea3ee241 3
simplyellow 0:8038ea3ee241 4 #include "mbed.h"
simplyellow 0:8038ea3ee241 5 #include "QEI.h"
simplyellow 0:8038ea3ee241 6
simplyellow 0:8038ea3ee241 7 #define STRAIGHT 0
simplyellow 0:8038ea3ee241 8 #define CCW 1
simplyellow 0:8038ea3ee241 9 #define CW 2
simplyellow 0:8038ea3ee241 10 #define PI 3.14159265
simplyellow 0:8038ea3ee241 11
simplyellow 0:8038ea3ee241 12 class Tracker {
simplyellow 0:8038ea3ee241 13 public:
simplyellow 0:8038ea3ee241 14 Tracker(PinName _chA, PinName _chB, PinName _pot);
simplyellow 0:8038ea3ee241 15 void clear();
simplyellow 0:8038ea3ee241 16 void potSetup();
simplyellow 0:8038ea3ee241 17 void setDirection();
simplyellow 0:8038ea3ee241 18 void checkToStart();
simplyellow 0:8038ea3ee241 19 void calcDisplacement();
simplyellow 0:8038ea3ee241 20 private:
simplyellow 0:8038ea3ee241 21 QEI *wheel;
simplyellow 0:8038ea3ee241 22 PinName chA;
simplyellow 0:8038ea3ee241 23 PinName chB;
simplyellow 0:8038ea3ee241 24 AnalogIn pot;
simplyellow 0:8038ea3ee241 25 float pulseCount;
simplyellow 0:8038ea3ee241 26 float encoding;
simplyellow 0:8038ea3ee241 27 float circumference;
simplyellow 0:8038ea3ee241 28 float constant;
simplyellow 0:8038ea3ee241 29
simplyellow 0:8038ea3ee241 30 float distance;
simplyellow 0:8038ea3ee241 31
simplyellow 0:8038ea3ee241 32 float x;
simplyellow 0:8038ea3ee241 33 float y;
simplyellow 0:8038ea3ee241 34
simplyellow 0:8038ea3ee241 35 float value;
simplyellow 0:8038ea3ee241 36 float turnAngle;
simplyellow 0:8038ea3ee241 37 float zeroAngle;
simplyellow 0:8038ea3ee241 38
simplyellow 0:8038ea3ee241 39 int dir;
simplyellow 0:8038ea3ee241 40
simplyellow 0:8038ea3ee241 41 float df;
simplyellow 0:8038ea3ee241 42 float db;
simplyellow 0:8038ea3ee241 43 float W;
simplyellow 0:8038ea3ee241 44 float R;
simplyellow 0:8038ea3ee241 45 float dispAngle;
simplyellow 0:8038ea3ee241 46
simplyellow 0:8038ea3ee241 47 };
simplyellow 0:8038ea3ee241 48 #endif