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

RemovedSources/WheelEncoder.h.txt@100:ffbeefc9e218, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 21:04:10 2017 +0000
Revision:
100:ffbeefc9e218
Parent:
87:15fcf7891bf9 
Better version of Intersection detection.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 65:295c222fdf88 1 #if 0
hazheng 65:295c222fdf88 2
Bobymicjohn 15:eb6a274b3dfb 3 #pragma once
Bobymicjohn 15:eb6a274b3dfb 4
Bobymicjohn 15:eb6a274b3dfb 5 #include <mbed.h>
Bobymicjohn 15:eb6a274b3dfb 6
Bobymicjohn 15:eb6a274b3dfb 7 namespace SW
Bobymicjohn 15:eb6a274b3dfb 8 {
Bobymicjohn 15:eb6a274b3dfb 9 class Core;
Bobymicjohn 15:eb6a274b3dfb 10 }
Bobymicjohn 15:eb6a274b3dfb 11
Bobymicjohn 15:eb6a274b3dfb 12 class WheelEncoder
Bobymicjohn 15:eb6a274b3dfb 13 {
Bobymicjohn 15:eb6a274b3dfb 14 public:
Bobymicjohn 15:eb6a274b3dfb 15 WheelEncoder(SW::Core &core);
Bobymicjohn 15:eb6a274b3dfb 16
Bobymicjohn 15:eb6a274b3dfb 17 ~WheelEncoder();
Bobymicjohn 15:eb6a274b3dfb 18
Bobymicjohn 15:eb6a274b3dfb 19 void Update(float deltaTime);
Bobymicjohn 15:eb6a274b3dfb 20
Bobymicjohn 15:eb6a274b3dfb 21 private:
Bobymicjohn 15:eb6a274b3dfb 22
Bobymicjohn 15:eb6a274b3dfb 23 void pulseInRRight();
Bobymicjohn 15:eb6a274b3dfb 24
Bobymicjohn 15:eb6a274b3dfb 25 void pulseInRLeft();
Bobymicjohn 15:eb6a274b3dfb 26
Bobymicjohn 15:eb6a274b3dfb 27 SW::Core& m_core;
Bobymicjohn 15:eb6a274b3dfb 28
Bobymicjohn 15:eb6a274b3dfb 29 InterruptIn m_intRL;
Bobymicjohn 15:eb6a274b3dfb 30
Bobymicjohn 15:eb6a274b3dfb 31 InterruptIn m_intRR;
Bobymicjohn 15:eb6a274b3dfb 32
Bobymicjohn 15:eb6a274b3dfb 33 Timer m_rrightTimer, m_rleftTimer;
Bobymicjohn 15:eb6a274b3dfb 34
Bobymicjohn 15:eb6a274b3dfb 35 float m_rrDuration, m_rlDuration;
hazheng 65:295c222fdf88 36 };
hazheng 65:295c222fdf88 37 #endif //if 0