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

Diff: turn_sensor.cpp

Revision:
48:597738b77f77
Parent:
47:9773dc14c834
--- a/turn_sensor.cpp	Wed Jul 31 07:14:09 2019 +0000
+++ b/turn_sensor.cpp	Tue Aug 13 21:21:17 2019 +0000
@@ -52,14 +52,16 @@
         
         if (rate > 0)
         {
-          // Counter-clockwise scale factor calculated from log_190730_2.csv.
-          const double scale = 1.012394298;
+          // Counter-clockwise scale factors from
+          // log_190730_2.csv and log_190801_4.csv.
+          const double scale = 1.012394298 * 0.998207092;
           angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
         }
         else
         {
-          // Clockwise scale factor calculated from log_190730_3.csv.
-          const double scale = 0.992376154;
+          // Clockwise scale factor calculated from
+          // log_190730_3.csv and then log_190801_3.csv.
+          const double scale = 0.992376154 * 0.999892525;
           angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
         }
     }