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
Diff: test.cpp
- Revision:
- 22:44c032e59ff5
- Parent:
- 21:c279c6a83671
- Child:
- 24:fc01d9125d3b
--- a/test.cpp Thu Feb 27 23:20:34 2014 +0000 +++ b/test.cpp Fri Feb 28 00:16:49 2014 +0000 @@ -107,6 +107,43 @@ } } +// If the calibration stops working, we could just use these values from David's office in the day time: +// # calmin calmax +// 0 34872 59726 +// 1 29335 60110 +// 2 23845 58446 +void testCalibrate() +{ + Timer timer; + timer.start(); + + Pacer reportPacer(200000); + + while(1) + { + lineTracker.read(); + lineTracker.updateCalibration(); + led4 = calibrationLooksGood(); + + if (reportPacer.pace()) + { + pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" + for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) + { + pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]); + } + if (calibrationLooksGood()) + { + pc.puts("Good. \r\n"); + } + else + { + pc.puts("Not good yet.\r\n"); + } + } + } +} + void testEncoders() { Pacer reportPacer(500000);