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

main.h

Committer:
DavidEGrayson
Date:
2014-03-01
Revision:
28:4374035df5e0
Parent:
24:fc01d9125d3b
Child:
32:83a13b06093c

File content as of revision 28:4374035df5e0:

#pragma once

#include "reckoner.h"
#include "line_tracker.h"

void loadCalibration();

void waitForSignalToStart();
void findLineAndCalibrate(); void findLine();  // two alternatives
void turnRightToFindLine();
void followLineToEnd();
void driveHomeAlmost();
void finalSettleIn();

void updateMotorsToFollowLine();
void updateReckonerFromEncoders();
float determinant();
float dotProduct();
bool calibrationLooksGood();

extern Reckoner reckoner;
extern LineTracker lineTracker;