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: test.cpp

Revision:
13:bba5b3abd13f
Parent:
12:835a4d24ae3b
Child:
14:c8cca3687e64
--- a/test.cpp	Sun Feb 23 22:23:34 2014 +0000
+++ b/test.cpp	Sun Feb 23 23:49:58 2014 +0000
@@ -15,14 +15,21 @@
 
 void testReckoner()
 {
+    Pacer reportPacer(100000);
     while(1)
     {
         updateReckonerFromEncoders();
-        led1 = (reckoner.x > 0);
-        led2 = (reckoner.y > 0);
-        led3 = (reckoner.cos > 0);
-        led4 = (reckoner.sin > 0);
+        led1 = (reckoner.cos > 0);
+        led2 = (reckoner.sin > 0);
+        led3 = (reckoner.x > 0);
+        led4 = (reckoner.y > 0);
         
+        if (reportPacer.pace())
+        {
+            pc.printf("%11d %11d %11d %11d | %8d %8d \n",
+              reckoner.cos, reckoner.sin, reckoner.x, reckoner.y,
+              encoderLeft.getCount(), encoderRight.getCount());
+        }
     }
 }