David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
turn_sensor.h@55:05c8f439497d, 2015-04-16 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Thu Apr 16 20:59:35 2015 +0000
- Revision:
- 55:05c8f439497d
- Parent:
- 52:05a8e919ddb0
This commit works!! I recorded its logs in reckon_course_12.ods
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 44:edcacba44760 | 1 | #pragma once |
DavidEGrayson | 44:edcacba44760 | 2 | |
DavidEGrayson | 44:edcacba44760 | 3 | #include <mbed.h> |
DavidEGrayson | 44:edcacba44760 | 4 | |
DavidEGrayson | 44:edcacba44760 | 5 | class TurnSensor |
DavidEGrayson | 44:edcacba44760 | 6 | { |
DavidEGrayson | 44:edcacba44760 | 7 | // TODO: for production code, you would want a way to set the gyro offset |
DavidEGrayson | 44:edcacba44760 | 8 | |
DavidEGrayson | 44:edcacba44760 | 9 | public: |
DavidEGrayson | 44:edcacba44760 | 10 | |
DavidEGrayson | 50:517c0f0e621f | 11 | void reset(); |
DavidEGrayson | 44:edcacba44760 | 12 | void start(); |
DavidEGrayson | 44:edcacba44760 | 13 | void update(); |
DavidEGrayson | 44:edcacba44760 | 14 | |
DavidEGrayson | 44:edcacba44760 | 15 | int32_t getAngle() |
DavidEGrayson | 44:edcacba44760 | 16 | { |
DavidEGrayson | 44:edcacba44760 | 17 | return (int32_t)angleUnsigned; |
DavidEGrayson | 44:edcacba44760 | 18 | } |
DavidEGrayson | 44:edcacba44760 | 19 | |
DavidEGrayson | 52:05a8e919ddb0 | 20 | uint32_t getAngleUnsigned() |
DavidEGrayson | 52:05a8e919ddb0 | 21 | { |
DavidEGrayson | 52:05a8e919ddb0 | 22 | return angleUnsigned; |
DavidEGrayson | 52:05a8e919ddb0 | 23 | } |
DavidEGrayson | 52:05a8e919ddb0 | 24 | |
DavidEGrayson | 44:edcacba44760 | 25 | int16_t getAngleDegrees() |
DavidEGrayson | 44:edcacba44760 | 26 | { |
DavidEGrayson | 44:edcacba44760 | 27 | return (((int32_t)angleUnsigned >> 16) * 360) >> 16; |
DavidEGrayson | 44:edcacba44760 | 28 | } |
DavidEGrayson | 44:edcacba44760 | 29 | |
DavidEGrayson | 44:edcacba44760 | 30 | int16_t getRate() |
DavidEGrayson | 44:edcacba44760 | 31 | { |
DavidEGrayson | 44:edcacba44760 | 32 | return rate; |
DavidEGrayson | 44:edcacba44760 | 33 | } |
DavidEGrayson | 44:edcacba44760 | 34 | |
DavidEGrayson | 44:edcacba44760 | 35 | private: |
DavidEGrayson | 44:edcacba44760 | 36 | |
DavidEGrayson | 44:edcacba44760 | 37 | Timer timer; |
DavidEGrayson | 44:edcacba44760 | 38 | uint32_t angleUnsigned; |
DavidEGrayson | 44:edcacba44760 | 39 | int16_t rate; |
DavidEGrayson | 44:edcacba44760 | 40 | uint16_t gyroLastUpdate; |
DavidEGrayson | 50:517c0f0e621f | 41 | }; |
DavidEGrayson | 50:517c0f0e621f | 42 | |
DavidEGrayson | 50:517c0f0e621f | 43 | |
DavidEGrayson | 50:517c0f0e621f | 44 | // This constant represents a turn of 45 degrees. |
DavidEGrayson | 50:517c0f0e621f | 45 | const int32_t turnAngle45 = 0x20000000; |
DavidEGrayson | 50:517c0f0e621f | 46 | |
DavidEGrayson | 50:517c0f0e621f | 47 | // This constant represents a turn of 90 degrees. |
DavidEGrayson | 50:517c0f0e621f | 48 | const int32_t turnAngle90 = turnAngle45 * 2; |
DavidEGrayson | 50:517c0f0e621f | 49 | |
DavidEGrayson | 50:517c0f0e621f | 50 | // This constant represents a turn of approximately 1 degree. |
DavidEGrayson | 50:517c0f0e621f | 51 | const int32_t turnAngle1 = (turnAngle45 + 22) / 45; |