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:
42:96671b71aac5
Parent:
41:3ead1dd2cc3a
Child:
43:0e985a58f174
--- a/main.cpp	Thu Jul 25 03:20:41 2019 +0000
+++ b/main.cpp	Sat Jul 27 20:58:46 2019 +0000
@@ -58,7 +58,7 @@
     //testMotorSpeed();
     //testLineSensors();
     //testL3g();
-    //testL3gAndCalibrate();
+    //testL3gAndShowAverage();
     testTurnSensor();
     //testReckoner();
     //testButtons();
@@ -72,7 +72,8 @@
     //testCloseness();
     //testLogger();
 
-    loadCalibration();
+    loadLineCalibration();
+    doGyroCalibration();
 
     doDeadReckoning();
 }
@@ -126,8 +127,17 @@
     }   
 }
 
+void doGyroCalibration()
+{
+    wait_ms(1000);  // Time for the robot to stop moving.
+    while (!l3gCalibrateDone())
+    {
+        l3gCalibrate();
+        wait_ms(2);
+    }
+}
 
-void loadCalibration()
+void loadLineCalibration()
 {
     /** QTR-3RC **/
     lineTracker.calibratedMinimum[0] =  100;
@@ -136,15 +146,6 @@
     lineTracker.calibratedMaximum[0] =  792;
     lineTracker.calibratedMaximum[1] =  807;
     lineTracker.calibratedMaximum[2] = 1000;    
-    
-    /** QTR-3A
-    lineTracker.calibratedMinimum[0] = 34872;
-    lineTracker.calibratedMinimum[1] = 29335;
-    lineTracker.calibratedMinimum[2] = 23845;
-    lineTracker.calibratedMaximum[0] = 59726;
-    lineTracker.calibratedMaximum[1] = 60110;
-    lineTracker.calibratedMaximum[2] = 58446;
-    **/
 }
 
 void updateReckonerFromEncoders()