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: turn_sensor.h

Revision:
42:96671b71aac5
Parent:
40:6fa672be85ec
--- a/turn_sensor.h	Thu Jul 25 03:20:41 2019 +0000
+++ b/turn_sensor.h	Sat Jul 27 20:58:46 2019 +0000
@@ -27,6 +27,11 @@
         return (((int32_t)angleUnsigned >> 16) * 360) >> 16;
     }
     
+    int32_t getAngleMillidegrees()
+    {
+        return ((int64_t)(int32_t)angleUnsigned * 360000) >> 32;
+    }
+    
     int16_t getRate()
     {
         return rate;