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

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Show/hide line numbers reckoner.h Source File

reckoner.h

00001 #pragma once
00002 
00003 #define RECKONER_LOG_UNIT 14
00004 
00005 class Reckoner
00006 {
00007 public:
00008     
00009     Reckoner();
00010     
00011     // Together, cos and sin form a vector with a magnitude close to 2^14 that
00012     // indicate the current direction the robot is facint.
00013     int32_t cosv, sinv;
00014     
00015     // Together, x and y are a vector that points from the starting point to the
00016     // robot's current position, with units of Df / (1<<14), where Df is the
00017     // distance the robot moves due to a single encoder tick.
00018     int32_t x, y;
00019 
00020     void reset();
00021     void handleForward();
00022     void handleBackward();
00023     void setTurnAngle(int32_t angle);
00024 };
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