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

Revisions of test.cpp

Revision Date Message Actions
46:df2c2d25c070 15 months ago Some minor changes. The overall dead reckoning is working now, but I don't think I did much to fix it. File  Diff  Annotate
45:81dd782bc0b4 15 months ago Calibrate the line sensors. Add testLineSensorsAndCalibrate. Unfortunately, testLineFollowing is not working though. File  Diff  Annotate
44:b4a00fbab06b 15 months ago Get testDriveHome to work: the robot got to within about 6 inches of where it was in one test I did. File  Diff  Annotate
43:0e985a58f174 15 months ago Changed reckoner to use readings from turnSensor (Gyro) to get its direction vector instead of encoder ticks. File  Diff  Annotate
42:96671b71aac5 15 months ago Calibrate L3G using a buffer of 1000 zero-rate readings. Measured a drift of -1.850 degrees over 3 minutes (-0.01 degree per second). File  Diff  Annotate
41:3ead1dd2cc3a 15 months ago Gyro: Add a hacky offset of +6.5 in TurnSensor.cpp. The turn sensor drifts much more slowly now, like maybe 1 degree per minute. File  Diff  Annotate
40:6fa672be85ec 15 months ago Add TurnSensor and L3G code but I am not happy with how the Gyro drifts a degree every few seconds or so. File  Diff  Annotate
39:b19dfc5d4d4b 15 months ago New motors! 100:1 HP. File  Diff  Annotate
37:23000a47ed2b 2014-03-06 With a boost 0.2% to handleRight in the Reckoner, this code did very well on the course twice!! Then I ran it the other way and it was more than a foot off :( File  Diff  Annotate
33:58a0ab6e9ad2 2014-03-05 Bunch of stuff. Then reduced drivingSpeed to 400. File  Diff  Annotate
32:83a13b06093c 2014-03-04 getting line sensors to work again; File  Diff  Annotate
31:739b91331f31 2014-03-04 testLineSensors seems to work fine with QTR-3RC. File  Diff  Annotate
30:84be2d602dc0 2014-03-04 Seems like the QTR-3RC could work, based on my tests on P10. File  Diff  Annotate
29:cfcf08d8ac79 2014-03-04 trying to figure out the analog problem; File  Diff  Annotate
28:4374035df5e0 2014-03-01 Discovered that 4 out of the 6 analog inputs on the mbed are severely messed up. Might need to get a new mbed or do digital filtering (a median of three readings out to work). File  Diff  Annotate
24:fc01d9125d3b 2014-02-28 Fixed the problem with LineTracker always thinking the line was visible. File  Diff  Annotate
22:44c032e59ff5 2014-02-28 Fixed the code for calibrating. Added testCalibrate. File  Diff  Annotate
21:c279c6a83671 2014-02-27 Wrote a whole bunch of code that could theoretically allow the robot to compete, but it has not been tested at all yet. File  Diff  Annotate
20:dbec34f0e76b 2014-02-27 Broke up driveHome into two functions. File  Diff  Annotate
19:a11ffc903774 2014-02-25 Got the robot to get back to its home position and stop. File  Diff  Annotate
18:b65fbb795396 2014-02-24 Got the robot to face towards home! File  Diff  Annotate
17:2df9861f53ee 2014-02-24 Created a stub driveHome routine that we need to fill in. File  Diff  Annotate
16:8eaa5bc2bdb1 2014-02-24 Got debounced button pressing to work. File  Diff  Annotate
14:c8cca3687e64 2014-02-24 Started doing an experiment to see what dA really is. File  Diff  Annotate
13:bba5b3abd13f 2014-02-23 testReckoner routine works great! I can roll my robot around and it always knows what quadrant it is pointing to and knows what quadrant it is in! File  Diff  Annotate
12:835a4d24ae3b 2014-02-23 Made the Reckoner class and wrote a routine to help test it.; File  Diff  Annotate
10:e4dd36148539 2014-02-22 Successfully tested the encoders, printing out a nice bar graph. File  Diff  Annotate
9:9734347b5756 2014-02-22 Made verything use CamelCase.; File  Diff  Annotate
8:78b1ff957cba 2014-02-22 refactored into many files File  Diff  Annotate