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.h
- Revision:
- 15:eb6a274b3dfb
- Child:
- 65:295c222fdf88
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hardwares/WheelEncoder.h Tue Feb 14 19:51:57 2017 +0000
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <mbed.h>
+
+namespace SW
+{
+ class Core;
+}
+
+class WheelEncoder
+{
+public:
+ WheelEncoder(SW::Core &core);
+
+ ~WheelEncoder();
+
+ void Update(float deltaTime);
+
+private:
+
+ void pulseInRRight();
+
+ void pulseInRLeft();
+
+ SW::Core& m_core;
+
+ InterruptIn m_intRL;
+
+ InterruptIn m_intRR;
+
+ Timer m_rrightTimer, m_rleftTimer;
+
+ float m_rrDuration, m_rlDuration;
+};
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