David Grayson / Mbed 2 deprecated DeadReckoning

David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.

Dependencies:   PololuEncoder Pacer mbed GeneralDebouncer

line_tracker.h@48:597738b77f77, 2019-08-13 (annotated)

Committer:
DavidEGrayson
Date:
Tue Aug 13 21:21:17 2019 +0000
Revision:
48:597738b77f77
Parent:
46:df2c2d25c070 
Changes from before the contest, I think.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 21:c279c6a83671 1 #pragma once
DavidEGrayson 21:c279c6a83671 2
DavidEGrayson 21:c279c6a83671 3 #include "line_sensors.h"
DavidEGrayson 21:c279c6a83671 4
DavidEGrayson 21:c279c6a83671 5 class LineTracker
DavidEGrayson 21:c279c6a83671 6 {
DavidEGrayson 21:c279c6a83671 7 public:
DavidEGrayson 21:c279c6a83671 8 LineTracker();
DavidEGrayson 21:c279c6a83671 9
DavidEGrayson 21:c279c6a83671 10 void updateCalibration();
DavidEGrayson 21:c279c6a83671 11
DavidEGrayson 21:c279c6a83671 12 void read();
DavidEGrayson 21:c279c6a83671 13 bool getLineVisible();
DavidEGrayson 21:c279c6a83671 14 uint16_t getLinePosition();
DavidEGrayson 21:c279c6a83671 15
DavidEGrayson 21:c279c6a83671 16 uint16_t rawValues[LINE_SENSOR_COUNT];
DavidEGrayson 46:df2c2d25c070 17 uint16_t calibratedMinimum[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 18 uint16_t calibratedMaximum[LINE_SENSOR_COUNT];
DavidEGrayson 46:df2c2d25c070 19 uint16_t calibratedValues[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 20
DavidEGrayson 21:c279c6a83671 21 private:
DavidEGrayson 21:c279c6a83671 22 void readRawValues();
DavidEGrayson 21:c279c6a83671 23 void updateCalibratedValues();
DavidEGrayson 21:c279c6a83671 24 void updateLineStatus();
DavidEGrayson 22:44c032e59ff5 25
DavidEGrayson 22:44c032e59ff5 26 uint8_t calibrationState;
DavidEGrayson 22:44c032e59ff5 27 uint16_t recentValuesMax[LINE_SENSOR_COUNT];
DavidEGrayson 22:44c032e59ff5 28 uint16_t recentValuesMin[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 29
DavidEGrayson 21:c279c6a83671 30 bool lineVisible;
DavidEGrayson 21:c279c6a83671 31 uint16_t linePosition;
DavidEGrayson 21:c279c6a83671 32 };