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: test.cpp
- Revision:
- 44:b4a00fbab06b
- Parent:
- 43:0e985a58f174
- Child:
- 45:81dd782bc0b4
--- a/test.cpp Sat Jul 27 22:52:19 2019 +0000 +++ b/test.cpp Sun Jul 28 01:22:01 2019 +0000 @@ -35,6 +35,7 @@ void testCloseness() { doGyroCalibration(); + turnSensor.start(); led1 = 1; while(1) { @@ -55,6 +56,8 @@ void testTurnInPlace() { doGyroCalibration(); + turnSensor.start(); + led1 = 1; while(!button1DefinitelyPressed()) { @@ -105,6 +108,9 @@ // This also tests the LineTracker by printing out a lot of data from it. void testLineFollowing() { + doGyroCalibration(); + turnSensor.start(); + led1 = 1; while(!button1DefinitelyPressed()) { @@ -148,6 +154,7 @@ void testDriveHome() { doGyroCalibration(); + turnSensor.start(); led1 = 1; while(!button1DefinitelyPressed()) { @@ -167,6 +174,7 @@ void testFinalSettleIn() { doGyroCalibration(); + turnSensor.start(); led1 = 1; while(!button1DefinitelyPressed()) { @@ -199,12 +207,11 @@ void testReckoner() { doGyroCalibration(); + turnSensor.start(); led1 = 1; - turnSensor.start(); Pacer reportPacer(100000); while(1) { - turnSensor.update(); updateReckoner(); led1 = reckoner.x > 0;