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

Diff: main.cpp

Revision:
34:6c84680d823a
Parent:
33:58a0ab6e9ad2
Child:
37:23000a47ed2b
--- a/main.cpp	Wed Mar 05 02:50:09 2014 +0000
+++ b/main.cpp	Wed Mar 05 04:38:45 2014 +0000
@@ -41,7 +41,7 @@
     //testLineSensors();
     //testReckoner();
     //testButtons();
-    testDriveHome();
+    //testDriveHome();
     //testFinalSettleIn();
     //testCalibrate();
     //testLineFollowing();
@@ -184,7 +184,7 @@
 
 void updateMotorsToFollowLine()
 {
-    const int followLineStrength = drivingSpeed;
+    const int followLineStrength = drivingSpeed * 5 / 4;
 
     int16_t speedLeft = drivingSpeed;
     int16_t speedRight = drivingSpeed;
@@ -243,7 +243,7 @@
     timer.start();
     
     GeneralDebouncer lineStatus(10000);
-    const uint32_t lineDebounceTime = 100000;
+    const uint32_t lineDebounceTime = 1000000;
     
     while(1)
     {