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@21:c279c6a83671, 2014-02-27 (annotated)

Committer:
DavidEGrayson
Date:
Thu Feb 27 23:20:34 2014 +0000
Revision:
21:c279c6a83671
Child:
22:44c032e59ff5
Wrote a whole bunch of code that could theoretically allow the robot to compete, but it has not been tested at all yet.

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 21:c279c6a83671 17 uint16_t calibratedValues[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 18 uint16_t calibratedMaximum[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 19 uint16_t calibratedMinimum[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 21:c279c6a83671 25
DavidEGrayson 21:c279c6a83671 26 bool lineVisible;
DavidEGrayson 21:c279c6a83671 27 uint16_t linePosition;
DavidEGrayson 21:c279c6a83671 28 };