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

main.cpp@0:e77a0edb9878, 2014-02-20 (annotated)

Committer:
DavidEGrayson
Date:
Thu Feb 20 02:11:09 2014 +0000
Revision:
0:e77a0edb9878
Child:
1:d0d9653a4547
Got basics working.  See commit for library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 0:e77a0edb9878 1 #include <mbed.h>
DavidEGrayson 0:e77a0edb9878 2 #include "PololuEncoder.h"
DavidEGrayson 0:e77a0edb9878 3
DavidEGrayson 0:e77a0edb9878 4 DigitalOut myled(LED1);
DavidEGrayson 0:e77a0edb9878 5
DavidEGrayson 0:e77a0edb9878 6 Serial pc(USBTX, USBRX);
DavidEGrayson 0:e77a0edb9878 7
DavidEGrayson 0:e77a0edb9878 8 #define ENCODER1 0x00
DavidEGrayson 0:e77a0edb9878 9
DavidEGrayson 0:e77a0edb9878 10 PololuEncoderBuffer encoderBuffer;
DavidEGrayson 0:e77a0edb9878 11 PololuEncoder encoder1(p6, p7, &encoderBuffer, ENCODER1);
DavidEGrayson 0:e77a0edb9878 12 //PololuEncoder encoder1(p6, p7, ENCODER1);
DavidEGrayson 0:e77a0edb9878 13
DavidEGrayson 0:e77a0edb9878 14 int main() {
DavidEGrayson 0:e77a0edb9878 15 while(1) {
DavidEGrayson 0:e77a0edb9878 16 //pc.printf("Encoder: %d\n", encoder1.getCounts());
DavidEGrayson 0:e77a0edb9878 17 while(encoderBuffer.hasEvents())
DavidEGrayson 0:e77a0edb9878 18 {
DavidEGrayson 0:e77a0edb9878 19 PololuEncoderEvent event = encoderBuffer.readEvent();
DavidEGrayson 0:e77a0edb9878 20 pc.printf("%x\n", event);
DavidEGrayson 0:e77a0edb9878 21 }
DavidEGrayson 0:e77a0edb9878 22 myled = 1;
DavidEGrayson 0:e77a0edb9878 23 wait(0.1);
DavidEGrayson 0:e77a0edb9878 24 myled = 0;
DavidEGrayson 0:e77a0edb9878 25 wait(0.1);
DavidEGrayson 0:e77a0edb9878 26 }
DavidEGrayson 0:e77a0edb9878 27 }