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: logger.cpp
- Revision:
- 40:6fa672be85ec
- Parent:
- 37:23000a47ed2b
--- a/logger.cpp Thu Jul 25 02:11:25 2019 +0000 +++ b/logger.cpp Thu Jul 25 02:53:34 2019 +0000 @@ -1,7 +1,6 @@ #pragma once #include "logger.h" -#include "main.h" #include "pc_serial.h" Logger::Logger() @@ -14,7 +13,7 @@ return entryIndex >= LOGGER_SIZE; } -void Logger::log() +void Logger::log(struct LogEntry * newEntry) { if (isFull()) { @@ -23,11 +22,7 @@ LogEntry * entry = &entries[entryIndex]; entryIndex++; - - //entry->cos = reckoner.cos >> 16; - //entry->sin = reckoner.sin >> 16; - entry->x = reckoner.x >> 16; - entry->y = reckoner.y >> 16; + *entry = *newEntry; } void Logger::dump() @@ -36,7 +31,7 @@ for(int32_t i = 0; i < entryIndex; i++) { LogEntry * entry = &entries[i]; - pc.printf("%d,%d\r\n", entry->x, entry->y); + pc.printf("%d,%d,%d\r\n", entry->turnAngle, entry->x, entry->y); } pc.printf("Log dump end\r\n"); } \ No newline at end of file