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
line_sensors.cpp
- Committer:
- DavidEGrayson
- Date:
- 2014-03-04
- Revision:
- 29:cfcf08d8ac79
- Parent:
- 28:4374035df5e0
- Child:
- 31:739b91331f31
File content as of revision 29:cfcf08d8ac79:
#include "line_sensors.h" AnalogIn lineSensorsAnalog[LINE_SENSOR_COUNT] = { AnalogIn(p20), // brown wire, left-most sensor AnalogIn(p19), // orange wire, middle sensor AnalogIn(p17), // blue wire, right-most sensor }; /** uint16_t analogReadWithFilter(AnalogIn * input) { uint16_t readings[3]; for(uint8_t i = 0; i < 3; i++) { readings[i] = input->read_u16(); } if (readings[0] <= readings[1] && readings[0] >= readings[2]) { return readings[0]; } if (readings[1] <= readings[0] && readings[1] >= readings[2]) { return readings[1]; } return readings[2]; } **/