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: reckoner.cpp

Revision:
21:c279c6a83671
Parent:
15:4df8c50b5e91
Child:
36:ccb03b734737
--- a/reckoner.cpp	Thu Feb 27 19:46:35 2014 +0000
+++ b/reckoner.cpp	Thu Feb 27 23:20:34 2014 +0000
@@ -102,9 +102,12 @@
 
 #define LOG_COS_TO_X_CONVERSION  16    // 30 - 14
 
-Reckoner reckoner;
+Reckoner::Reckoner()
+{
+    reset();
+}
 
-Reckoner::Reckoner()
+void Reckoner::reset()
 {
   cos = 1 << LOG_UNIT_MAGNITUDE;
   sin = 0;