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

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

Committer:
DavidEGrayson
Date:
Thu Feb 27 23:20:34 2014 +0000
Revision:
21:c279c6a83671
Parent:
13:bba5b3abd13f
Child:
36:ccb03b734737
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 12:835a4d24ae3b 3 class Reckoner
DavidEGrayson 12:835a4d24ae3b 4 {
DavidEGrayson 12:835a4d24ae3b 5 public:
DavidEGrayson 12:835a4d24ae3b 6
DavidEGrayson 12:835a4d24ae3b 7 Reckoner();
DavidEGrayson 12:835a4d24ae3b 8
DavidEGrayson 12:835a4d24ae3b 9 // Together, cos and sin form a vector with a magnitude close to 2^30 that indicates
DavidEGrayson 13:bba5b3abd13f 10 // the current position of the robot.
DavidEGrayson 12:835a4d24ae3b 11 // cos corresponds to the x component of the orientation vector.
DavidEGrayson 12:835a4d24ae3b 12 // sin corresponds to the y component of the orientation vector.
DavidEGrayson 12:835a4d24ae3b 13 int32_t cos, sin;
DavidEGrayson 12:835a4d24ae3b 14
DavidEGrayson 12:835a4d24ae3b 15 // Together, x and y are a vector that points from the starting point to the
DavidEGrayson 12:835a4d24ae3b 16 // robot's current position.
DavidEGrayson 13:bba5b3abd13f 17 // The untis are Df / (1<<14), where Df is the distance the robot moves forward
DavidEGrayson 13:bba5b3abd13f 18 // or backwards due to a single encoder tick.
DavidEGrayson 12:835a4d24ae3b 19 int32_t x, y;
DavidEGrayson 12:835a4d24ae3b 20
DavidEGrayson 21:c279c6a83671 21 void reset();
DavidEGrayson 21:c279c6a83671 22
DavidEGrayson 12:835a4d24ae3b 23 void handleTickLeftForward();
DavidEGrayson 12:835a4d24ae3b 24 void handleTickLeftBackward();
DavidEGrayson 12:835a4d24ae3b 25 void handleTickRightForward();
DavidEGrayson 12:835a4d24ae3b 26 void handleTickRightBackward();
DavidEGrayson 12:835a4d24ae3b 27 void handleForward();
DavidEGrayson 12:835a4d24ae3b 28 void handleBackward();
DavidEGrayson 12:835a4d24ae3b 29 void handleRight();
DavidEGrayson 12:835a4d24ae3b 30 void handleLeft();
DavidEGrayson 12:835a4d24ae3b 31 };