Diff: main.cpp

Revision:

12:835a4d24ae3b

Parent:

10:e4dd36148539

Child:

16:8eaa5bc2bdb1

--- a/main.cpp	Sat Feb 22 04:53:35 2014 +0000
+++ b/main.cpp	Sun Feb 23 22:23:34 2014 +0000
@@ -6,6 +6,7 @@
 #include "leds.h"
 #include "pc_serial.h"
 #include "test.h"
+#include "reckoner.h"
 
 int __attribute__((noreturn)) main()
 {
@@ -18,10 +19,35 @@
     // Test routines
     //testMotors();
     //testEncoders();
-    testLineSensors();
+    //testLineSensors();
+    testReckoner();
 
     while(1)
     {
 
     }
 }
+
+void updateReckonerFromEncoders()
+{
+    while(encoderBuffer.hasEvents())
+    {
+        PololuEncoderEvent event = encoderBuffer.readEvent();
+        switch(event)
+        {
+            case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
+                reckoner.handleTickLeftForward();
+                break;
+            case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
+                reckoner.handleTickLeftBackward();
+                break;
+            case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
+                reckoner.handleTickRightForward();
+                break;
+            case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
+                reckoner.handleTickRightBackward();
+                break;
+                   
+        }
+    }
+}