David Grayson / Mbed 2 deprecated LineFollowing

David's line following code from the LVBots competition, 2015.

Dependencies:   GeneralDebouncer Pacer PololuEncoder mbed

Fork of DeadReckoning by David Grayson

logger.cpp@48:c84b7b3ab0e8, 2015-04-15 (annotated)

Committer:
DavidEGrayson
Date:
Wed Apr 15 21:42:52 2015 +0000
Revision:
48:c84b7b3ab0e8
Parent:
47:cb5c1504c24d
Child:
49:eaa6fd514f4f
made it record entries every 200 encoder counts, instead of every 200 ms;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 37:23000a47ed2b 1 #pragma once
DavidEGrayson 37:23000a47ed2b 2
DavidEGrayson 37:23000a47ed2b 3 #include "logger.h"
DavidEGrayson 37:23000a47ed2b 4 #include "main.h"
DavidEGrayson 37:23000a47ed2b 5 #include "pc_serial.h"
DavidEGrayson 37:23000a47ed2b 6
DavidEGrayson 37:23000a47ed2b 7 Logger::Logger()
DavidEGrayson 37:23000a47ed2b 8 {
DavidEGrayson 37:23000a47ed2b 9 entryIndex = 0;
DavidEGrayson 37:23000a47ed2b 10 }
DavidEGrayson 37:23000a47ed2b 11
DavidEGrayson 37:23000a47ed2b 12 bool Logger::isFull()
DavidEGrayson 37:23000a47ed2b 13 {
DavidEGrayson 37:23000a47ed2b 14 return entryIndex >= LOGGER_SIZE;
DavidEGrayson 37:23000a47ed2b 15 }
DavidEGrayson 37:23000a47ed2b 16
DavidEGrayson 48:c84b7b3ab0e8 17 void Logger::log(struct LogEntry * newEntry)
DavidEGrayson 37:23000a47ed2b 18 {
DavidEGrayson 37:23000a47ed2b 19 if (isFull())
DavidEGrayson 37:23000a47ed2b 20 {
DavidEGrayson 37:23000a47ed2b 21 return;
DavidEGrayson 37:23000a47ed2b 22 }
DavidEGrayson 37:23000a47ed2b 23
DavidEGrayson 37:23000a47ed2b 24 LogEntry * entry = &entries[entryIndex];
DavidEGrayson 37:23000a47ed2b 25 entryIndex++;
DavidEGrayson 48:c84b7b3ab0e8 26 *entry = *newEntry;
DavidEGrayson 37:23000a47ed2b 27 }
DavidEGrayson 37:23000a47ed2b 28
DavidEGrayson 37:23000a47ed2b 29 void Logger::dump()
DavidEGrayson 37:23000a47ed2b 30 {
DavidEGrayson 37:23000a47ed2b 31 pc.printf("Log dump start\r\n");
DavidEGrayson 37:23000a47ed2b 32 for(int32_t i = 0; i < entryIndex; i++)
DavidEGrayson 37:23000a47ed2b 33 {
DavidEGrayson 37:23000a47ed2b 34 LogEntry * entry = &entries[i];
DavidEGrayson 47:cb5c1504c24d 35 pc.printf("%d,%d,%d\r\n", entry->turnAngle, entry->x, entry->y);
DavidEGrayson 37:23000a47ed2b 36 }
DavidEGrayson 37:23000a47ed2b 37 pc.printf("Log dump end\r\n");
DavidEGrayson 37:23000a47ed2b 38 }