Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Hardwares/WheelEncoder.h@15:eb6a274b3dfb, 2017-02-14 (annotated)

Committer:
Bobymicjohn
Date:
Tue Feb 14 19:51:57 2017 +0000
Revision:
15:eb6a274b3dfb
Child:
65:295c222fdf88
Finished wheelEncoder class.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bobymicjohn 15:eb6a274b3dfb 1 #pragma once
Bobymicjohn 15:eb6a274b3dfb 2
Bobymicjohn 15:eb6a274b3dfb 3 #include <mbed.h>
Bobymicjohn 15:eb6a274b3dfb 4
Bobymicjohn 15:eb6a274b3dfb 5 namespace SW
Bobymicjohn 15:eb6a274b3dfb 6 {
Bobymicjohn 15:eb6a274b3dfb 7 class Core;
Bobymicjohn 15:eb6a274b3dfb 8 }
Bobymicjohn 15:eb6a274b3dfb 9
Bobymicjohn 15:eb6a274b3dfb 10 class WheelEncoder
Bobymicjohn 15:eb6a274b3dfb 11 {
Bobymicjohn 15:eb6a274b3dfb 12 public:
Bobymicjohn 15:eb6a274b3dfb 13 WheelEncoder(SW::Core &core);
Bobymicjohn 15:eb6a274b3dfb 14
Bobymicjohn 15:eb6a274b3dfb 15 ~WheelEncoder();
Bobymicjohn 15:eb6a274b3dfb 16
Bobymicjohn 15:eb6a274b3dfb 17 void Update(float deltaTime);
Bobymicjohn 15:eb6a274b3dfb 18
Bobymicjohn 15:eb6a274b3dfb 19 private:
Bobymicjohn 15:eb6a274b3dfb 20
Bobymicjohn 15:eb6a274b3dfb 21 void pulseInRRight();
Bobymicjohn 15:eb6a274b3dfb 22
Bobymicjohn 15:eb6a274b3dfb 23 void pulseInRLeft();
Bobymicjohn 15:eb6a274b3dfb 24
Bobymicjohn 15:eb6a274b3dfb 25 SW::Core& m_core;
Bobymicjohn 15:eb6a274b3dfb 26
Bobymicjohn 15:eb6a274b3dfb 27 InterruptIn m_intRL;
Bobymicjohn 15:eb6a274b3dfb 28
Bobymicjohn 15:eb6a274b3dfb 29 InterruptIn m_intRR;
Bobymicjohn 15:eb6a274b3dfb 30
Bobymicjohn 15:eb6a274b3dfb 31 Timer m_rrightTimer, m_rleftTimer;
Bobymicjohn 15:eb6a274b3dfb 32
Bobymicjohn 15:eb6a274b3dfb 33 float m_rrDuration, m_rlDuration;
Bobymicjohn 15:eb6a274b3dfb 34 };