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.cpp
- Committer:
- DavidEGrayson
- Date:
- 2014-02-20
- Revision:
- 1:d0d9653a4547
- Parent:
- 0:e77a0edb9878
- Child:
- 2:968338353aef
File content as of revision 1:d0d9653a4547:
#include <mbed.h> #include "PololuEncoder.h" #include "Pacer.h" DigitalOut led1(LED1), led2(LED2); Serial pc(USBTX, USBRX); #define ENCODER1 0x00 PololuEncoderBuffer encoderBuffer; PololuEncoder encoder1(p6, p7, &encoderBuffer, ENCODER1); int main() { Pacer reportPacer(250000); Pacer blinkPacer(200000); uint32_t eventCount = 0; while(1) { while(encoderBuffer.hasEvents()) { PololuEncoderEvent event = encoderBuffer.readEvent(); eventCount += 1; pc.printf("e %x\n", event); } if(reportPacer.pace()) { led2 = 1; pc.printf("%8x %8x\n", encoder1.getCount(), eventCount); led2 = 0; } if (blinkPacer.pace()) { led1 = !led1; } } }