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()); + } } }