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

reckoner.h@38:5e93a479c244, 2014-03-13 (annotated)

Committer:
DavidEGrayson
Date:
Thu Mar 13 17:49:43 2014 +0000
Revision:
38:5e93a479c244
Parent:
36:ccb03b734737
Child:
43:0e985a58f174
The final version of the code that was used for the competition.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 21:c279c6a83671 1 #pragma once
DavidEGrayson 21:c279c6a83671 2
DavidEGrayson 12:835a4d24ae3b 3 class Reckoner
DavidEGrayson 12:835a4d24ae3b 4 {
DavidEGrayson 12:835a4d24ae3b 5 public:
DavidEGrayson 12:835a4d24ae3b 6
DavidEGrayson 12:835a4d24ae3b 7 Reckoner();
DavidEGrayson 12:835a4d24ae3b 8
DavidEGrayson 12:835a4d24ae3b 9 // Together, cos and sin form a vector with a magnitude close to 2^30 that indicates
DavidEGrayson 13:bba5b3abd13f 10 // the current position of the robot.
DavidEGrayson 12:835a4d24ae3b 11 // cos corresponds to the x component of the orientation vector.
DavidEGrayson 12:835a4d24ae3b 12 // sin corresponds to the y component of the orientation vector.
DavidEGrayson 12:835a4d24ae3b 13 int32_t cos, sin;
DavidEGrayson 12:835a4d24ae3b 14
DavidEGrayson 12:835a4d24ae3b 15 // Together, x and y are a vector that points from the starting point to the
DavidEGrayson 12:835a4d24ae3b 16 // robot's current position.
DavidEGrayson 13:bba5b3abd13f 17 // The untis are Df / (1<<14), where Df is the distance the robot moves forward
DavidEGrayson 13:bba5b3abd13f 18 // or backwards due to a single encoder tick.
DavidEGrayson 12:835a4d24ae3b 19 int32_t x, y;
DavidEGrayson 12:835a4d24ae3b 20
DavidEGrayson 21:c279c6a83671 21 void reset();
DavidEGrayson 21:c279c6a83671 22
DavidEGrayson 12:835a4d24ae3b 23 void handleTickLeftForward();
DavidEGrayson 12:835a4d24ae3b 24 void handleTickLeftBackward();
DavidEGrayson 12:835a4d24ae3b 25 void handleTickRightForward();
DavidEGrayson 12:835a4d24ae3b 26 void handleTickRightBackward();
DavidEGrayson 12:835a4d24ae3b 27 void handleForward();
DavidEGrayson 12:835a4d24ae3b 28 void handleBackward();
DavidEGrayson 12:835a4d24ae3b 29 void handleRight();
DavidEGrayson 12:835a4d24ae3b 30 void handleLeft();
DavidEGrayson 36:ccb03b734737 31 void handleTurnRadians(int32_t radians);
DavidEGrayson 12:835a4d24ae3b 32 };