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@17:2df9861f53ee, 2014-02-24 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Mon Feb 24 01:38:55 2014 +0000
- Revision:
- 17:2df9861f53ee
- Parent:
- 13:bba5b3abd13f
- Child:
- 21:c279c6a83671
Created a stub driveHome routine that we need to fill in.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 12:835a4d24ae3b | 1 | class Reckoner |
DavidEGrayson | 12:835a4d24ae3b | 2 | { |
DavidEGrayson | 12:835a4d24ae3b | 3 | public: |
DavidEGrayson | 12:835a4d24ae3b | 4 | |
DavidEGrayson | 12:835a4d24ae3b | 5 | Reckoner(); |
DavidEGrayson | 12:835a4d24ae3b | 6 | |
DavidEGrayson | 12:835a4d24ae3b | 7 | // Together, cos and sin form a vector with a magnitude close to 2^30 that indicates |
DavidEGrayson | 13:bba5b3abd13f | 8 | // the current position of the robot. |
DavidEGrayson | 12:835a4d24ae3b | 9 | // cos corresponds to the x component of the orientation vector. |
DavidEGrayson | 12:835a4d24ae3b | 10 | // sin corresponds to the y component of the orientation vector. |
DavidEGrayson | 12:835a4d24ae3b | 11 | int32_t cos, sin; |
DavidEGrayson | 12:835a4d24ae3b | 12 | |
DavidEGrayson | 12:835a4d24ae3b | 13 | // Together, x and y are a vector that points from the starting point to the |
DavidEGrayson | 12:835a4d24ae3b | 14 | // robot's current position. |
DavidEGrayson | 13:bba5b3abd13f | 15 | // The untis are Df / (1<<14), where Df is the distance the robot moves forward |
DavidEGrayson | 13:bba5b3abd13f | 16 | // or backwards due to a single encoder tick. |
DavidEGrayson | 12:835a4d24ae3b | 17 | int32_t x, y; |
DavidEGrayson | 12:835a4d24ae3b | 18 | |
DavidEGrayson | 12:835a4d24ae3b | 19 | void handleTickLeftForward(); |
DavidEGrayson | 12:835a4d24ae3b | 20 | void handleTickLeftBackward(); |
DavidEGrayson | 12:835a4d24ae3b | 21 | void handleTickRightForward(); |
DavidEGrayson | 12:835a4d24ae3b | 22 | void handleTickRightBackward(); |
DavidEGrayson | 12:835a4d24ae3b | 23 | void handleForward(); |
DavidEGrayson | 12:835a4d24ae3b | 24 | void handleBackward(); |
DavidEGrayson | 12:835a4d24ae3b | 25 | void handleRight(); |
DavidEGrayson | 12:835a4d24ae3b | 26 | void handleLeft(); |
DavidEGrayson | 12:835a4d24ae3b | 27 | }; |
DavidEGrayson | 12:835a4d24ae3b | 28 | |
DavidEGrayson | 12:835a4d24ae3b | 29 | extern Reckoner reckoner; |