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
reckoner.h
- Committer:
- DavidEGrayson
- Date:
- 2019-07-27
- Revision:
- 43:0e985a58f174
- Parent:
- 36:ccb03b734737
File content as of revision 43:0e985a58f174:
#pragma once #define RECKONER_LOG_UNIT 14 class Reckoner { public: Reckoner(); // Together, cos and sin form a vector with a magnitude close to 2^14 that // indicate the current direction the robot is facint. int32_t cosv, sinv; // Together, x and y are a vector that points from the starting point to the // robot's current position, with units of Df / (1<<14), where Df is the // distance the robot moves due to a single encoder tick. int32_t x, y; void reset(); void handleForward(); void handleBackward(); void setTurnAngle(int32_t angle); };