official library and example code for tracking X and Y positions on the dump truck
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?
User | Revision | Line number | New 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 |