Jordan Brack
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
Diff: Hardwares/WheelEncoder.cpp
- Revision:
- 15:eb6a274b3dfb
- Child:
- 21:60377d6f1cc2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hardwares/WheelEncoder.cpp Tue Feb 14 19:51:57 2017 +0000
@@ -0,0 +1,52 @@
+#include "WheelEncoder.h"
+#include "Core.h"
+#include "SWUSBServer.h"
+
+#include "PinAssignment.h"
+#include "SWUSBServer.h"
+
+#include "mbed.h"
+
+
+WheelEncoder::WheelEncoder(SW::Core& core) :
+ m_core(core),
+ m_intRL(InterruptIn(PIN_WE_RL)),
+ m_intRR(InterruptIn(PIN_WE_RR))
+{
+ m_rrightTimer.start();
+ m_rleftTimer.start();
+ m_intRL.rise(callback(this, &WheelEncoder::pulseInRLeft));
+ m_intRR.rise(callback(this, &WheelEncoder::pulseInRRight));
+
+}
+
+
+void WheelEncoder::Update(float deltaTime)
+{
+ int rrHz = 1 / m_rrDuration;
+ int rlHz = 1 / m_rlDuration;
+
+ char buf[5];
+ sprintf(buf, "RR: %d", rrHz);
+ m_core.GetUSBServer().PushUnreliableMsg('D', buf);
+ sprintf(buf, "RL: %d", rlHz);
+ m_core.GetUSBServer().PushUnreliableMsg('D', buf);
+}
+
+void WheelEncoder::pulseInRRight()
+{
+ m_rrDuration = m_rrightTimer.read();
+ m_rrightTimer.stop();
+ m_rrightTimer.reset();
+ m_rrightTimer.start();
+}
+
+void WheelEncoder::pulseInRLeft()
+{
+ m_rlDuration = m_rleftTimer.read();
+ m_rleftTimer.stop();
+ m_rleftTimer.reset();
+ m_rleftTimer.start();
+}
+
+
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