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

test.cpp@8:78b1ff957cba, 2014-02-22 (annotated)

Committer:
DavidEGrayson
Date:
Sat Feb 22 02:23:21 2014 +0000
Revision:
8:78b1ff957cba
Child:
9:9734347b5756
refactored into many files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 8:78b1ff957cba 1 // A file for testing routines that will not be used in the final firmware.
DavidEGrayson 8:78b1ff957cba 2
DavidEGrayson 8:78b1ff957cba 3 #include <mbed.h>
DavidEGrayson 8:78b1ff957cba 4 #include "motors.h"
DavidEGrayson 8:78b1ff957cba 5 #include "leds.h"
DavidEGrayson 8:78b1ff957cba 6 #include "pc_serial.h"
DavidEGrayson 8:78b1ff957cba 7
DavidEGrayson 8:78b1ff957cba 8 void testMotors()
DavidEGrayson 8:78b1ff957cba 9 {
DavidEGrayson 8:78b1ff957cba 10 led1 = 1;
DavidEGrayson 8:78b1ff957cba 11 led2 = 0;
DavidEGrayson 8:78b1ff957cba 12 led3 = 0;
DavidEGrayson 8:78b1ff957cba 13 while(1)
DavidEGrayson 8:78b1ff957cba 14 {
DavidEGrayson 8:78b1ff957cba 15 motors_speed_set(0, 0);
DavidEGrayson 8:78b1ff957cba 16 led2 = 0;
DavidEGrayson 8:78b1ff957cba 17 led3 = 0;
DavidEGrayson 8:78b1ff957cba 18 wait(2);
DavidEGrayson 8:78b1ff957cba 19
DavidEGrayson 8:78b1ff957cba 20 motors_speed_set(300, 300);
DavidEGrayson 8:78b1ff957cba 21 wait(2);
DavidEGrayson 8:78b1ff957cba 22
DavidEGrayson 8:78b1ff957cba 23 motors_speed_set(-300, 300);
DavidEGrayson 8:78b1ff957cba 24 wait(2);
DavidEGrayson 8:78b1ff957cba 25
DavidEGrayson 8:78b1ff957cba 26 motors_speed_set(0, 0);
DavidEGrayson 8:78b1ff957cba 27 led2 = 1;
DavidEGrayson 8:78b1ff957cba 28 wait(2);
DavidEGrayson 8:78b1ff957cba 29
DavidEGrayson 8:78b1ff957cba 30 motors_speed_set(600, 600);
DavidEGrayson 8:78b1ff957cba 31 wait(2);
DavidEGrayson 8:78b1ff957cba 32
DavidEGrayson 8:78b1ff957cba 33 motors_speed_set(0, 0);
DavidEGrayson 8:78b1ff957cba 34 led3 = 1;
DavidEGrayson 8:78b1ff957cba 35 wait(2);
DavidEGrayson 8:78b1ff957cba 36
DavidEGrayson 8:78b1ff957cba 37 motors_speed_set(1200, 1200);
DavidEGrayson 8:78b1ff957cba 38 wait(2);
DavidEGrayson 8:78b1ff957cba 39 }
DavidEGrayson 8:78b1ff957cba 40 }