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

line_sensors.cpp@48:597738b77f77, 2019-08-13 (annotated)

Committer:
DavidEGrayson
Date:
Tue Aug 13 21:21:17 2019 +0000
Revision:
48:597738b77f77
Parent:
40:6fa672be85ec 
Changes from before the contest, I think.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 10:e4dd36148539 1 #include "line_sensors.h"
DavidEGrayson 10:e4dd36148539 2
DavidEGrayson 31:739b91331f31 3 DigitalInOut lineSensorsDigital[LINE_SENSOR_COUNT] = {
DavidEGrayson 32:83a13b06093c 4 DigitalInOut(p18), // white wire, left-most sensor
DavidEGrayson 31:739b91331f31 5 DigitalInOut(p19), // orange wire, middle sensor
DavidEGrayson 32:83a13b06093c 6 DigitalInOut(p20), // brown wire, right-most sensor
DavidEGrayson 29:cfcf08d8ac79 7 };
DavidEGrayson 29:cfcf08d8ac79 8
DavidEGrayson 31:739b91331f31 9 void readSensors(uint16_t * values)
DavidEGrayson 31:739b91331f31 10 {
DavidEGrayson 31:739b91331f31 11 for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
DavidEGrayson 31:739b91331f31 12 {
DavidEGrayson 31:739b91331f31 13 values[i] = 1000;
DavidEGrayson 31:739b91331f31 14 lineSensorsDigital[i].mode(PullNone);
DavidEGrayson 31:739b91331f31 15 lineSensorsDigital[i].output();
DavidEGrayson 31:739b91331f31 16 lineSensorsDigital[i].write(1);
DavidEGrayson 31:739b91331f31 17 }
DavidEGrayson 31:739b91331f31 18
DavidEGrayson 31:739b91331f31 19 wait_us(10);
DavidEGrayson 31:739b91331f31 20
DavidEGrayson 31:739b91331f31 21 Timer timer;
DavidEGrayson 31:739b91331f31 22 timer.start();
DavidEGrayson 31:739b91331f31 23
DavidEGrayson 31:739b91331f31 24 for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
DavidEGrayson 31:739b91331f31 25 {
DavidEGrayson 31:739b91331f31 26 lineSensorsDigital[i].input();
DavidEGrayson 31:739b91331f31 27 }
DavidEGrayson 31:739b91331f31 28
DavidEGrayson 31:739b91331f31 29 while(timer.read_us() < 1000)
DavidEGrayson 31:739b91331f31 30 {
DavidEGrayson 31:739b91331f31 31 for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
DavidEGrayson 31:739b91331f31 32 {
DavidEGrayson 31:739b91331f31 33 if (values[i] == 1000 && lineSensorsDigital[i].read() == 0)
DavidEGrayson 31:739b91331f31 34 {
DavidEGrayson 31:739b91331f31 35 values[i] = timer.read_us();
DavidEGrayson 31:739b91331f31 36 }
DavidEGrayson 31:739b91331f31 37 }
DavidEGrayson 31:739b91331f31 38 }
DavidEGrayson 31:739b91331f31 39 }