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@22:44c032e59ff5, 2014-02-28 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Fri Feb 28 00:16:49 2014 +0000
- Revision:
- 22:44c032e59ff5
- Parent:
- 21:c279c6a83671
- Child:
- 24:fc01d9125d3b
Fixed the code for calibrating. Added testCalibrate.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 21:c279c6a83671 | 1 | #pragma once |
DavidEGrayson | 21:c279c6a83671 | 2 | |
DavidEGrayson | 21:c279c6a83671 | 3 | #include "reckoner.h" |
DavidEGrayson | 21:c279c6a83671 | 4 | #include "line_tracker.h" |
DavidEGrayson | 21:c279c6a83671 | 5 | |
DavidEGrayson | 21:c279c6a83671 | 6 | void waitForSignalToStart(); |
DavidEGrayson | 21:c279c6a83671 | 7 | void findLineAndCalibrate(); |
DavidEGrayson | 21:c279c6a83671 | 8 | void turnRightToFindLine(); |
DavidEGrayson | 21:c279c6a83671 | 9 | void followLineToEnd(); |
DavidEGrayson | 21:c279c6a83671 | 10 | void driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 11 | void finalSettleIn(); |
DavidEGrayson | 21:c279c6a83671 | 12 | |
DavidEGrayson | 21:c279c6a83671 | 13 | void updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 14 | float determinant(); |
DavidEGrayson | 21:c279c6a83671 | 15 | float dotProduct(); |
DavidEGrayson | 22:44c032e59ff5 | 16 | bool calibrationLooksGood(); |
DavidEGrayson | 21:c279c6a83671 | 17 | |
DavidEGrayson | 21:c279c6a83671 | 18 | extern Reckoner reckoner; |
DavidEGrayson | 21:c279c6a83671 | 19 | extern LineTracker lineTracker; |