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
encoders.cpp@14:c8cca3687e64, 2014-02-24 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Mon Feb 24 00:07:54 2014 +0000
- Revision:
- 14:c8cca3687e64
- Parent:
- 12:835a4d24ae3b
- Child:
- 39:b19dfc5d4d4b
Started doing an experiment to see what dA really is.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 8:78b1ff957cba | 1 | #include "encoders.h" |
DavidEGrayson | 8:78b1ff957cba | 2 | |
DavidEGrayson | 9:9734347b5756 | 3 | const PinName encoderPinLeftA = p6, // Gray wire |
DavidEGrayson | 9:9734347b5756 | 4 | encoderPinLeftB = p7, // White wire |
DavidEGrayson | 9:9734347b5756 | 5 | encoderPinRightA = p30, // White wire |
DavidEGrayson | 9:9734347b5756 | 6 | encoderPinRightB = p29; // Gray wire |
DavidEGrayson | 8:78b1ff957cba | 7 | |
DavidEGrayson | 8:78b1ff957cba | 8 | PololuEncoderBuffer encoderBuffer; |
DavidEGrayson | 12:835a4d24ae3b | 9 | PololuEncoder encoderLeft(encoderPinLeftA, encoderPinLeftB, &encoderBuffer, ENCODER_LEFT); |
DavidEGrayson | 12:835a4d24ae3b | 10 | PololuEncoder encoderRight(encoderPinRightA, encoderPinRightB, &encoderBuffer, ENCODER_RIGHT); |
DavidEGrayson | 8:78b1ff957cba | 11 | |
DavidEGrayson | 9:9734347b5756 | 12 | void encodersInit() |
DavidEGrayson | 8:78b1ff957cba | 13 | { |
DavidEGrayson | 9:9734347b5756 | 14 | DigitalIn(encoderPinLeftA).mode(PullNone); |
DavidEGrayson | 9:9734347b5756 | 15 | DigitalIn(encoderPinLeftB).mode(PullNone); |
DavidEGrayson | 9:9734347b5756 | 16 | DigitalIn(encoderPinRightA).mode(PullNone); |
DavidEGrayson | 9:9734347b5756 | 17 | DigitalIn(encoderPinRightB).mode(PullNone); |
DavidEGrayson | 8:78b1ff957cba | 18 | wait_us(50); |
DavidEGrayson | 9:9734347b5756 | 19 | encoderLeft.init(); |
DavidEGrayson | 9:9734347b5756 | 20 | encoderRight.init(); |
DavidEGrayson | 8:78b1ff957cba | 21 | } |