David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
turn_sensor.h@47:cb5c1504c24d, 2015-04-15 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Wed Apr 15 21:19:52 2015 +0000
- Revision:
- 47:cb5c1504c24d
- Parent:
- 44:edcacba44760
- Child:
- 50:517c0f0e621f
fixed something in logger;
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 | 44:edcacba44760 | 11 | void start(); |
DavidEGrayson | 44:edcacba44760 | 12 | void update(); |
DavidEGrayson | 44:edcacba44760 | 13 | |
DavidEGrayson | 44:edcacba44760 | 14 | int32_t getAngle() |
DavidEGrayson | 44:edcacba44760 | 15 | { |
DavidEGrayson | 44:edcacba44760 | 16 | return (int32_t)angleUnsigned; |
DavidEGrayson | 44:edcacba44760 | 17 | } |
DavidEGrayson | 44:edcacba44760 | 18 | |
DavidEGrayson | 44:edcacba44760 | 19 | int16_t getAngleDegrees() |
DavidEGrayson | 44:edcacba44760 | 20 | { |
DavidEGrayson | 44:edcacba44760 | 21 | return (((int32_t)angleUnsigned >> 16) * 360) >> 16; |
DavidEGrayson | 44:edcacba44760 | 22 | } |
DavidEGrayson | 44:edcacba44760 | 23 | |
DavidEGrayson | 44:edcacba44760 | 24 | int16_t getRate() |
DavidEGrayson | 44:edcacba44760 | 25 | { |
DavidEGrayson | 44:edcacba44760 | 26 | return rate; |
DavidEGrayson | 44:edcacba44760 | 27 | } |
DavidEGrayson | 44:edcacba44760 | 28 | |
DavidEGrayson | 44:edcacba44760 | 29 | private: |
DavidEGrayson | 44:edcacba44760 | 30 | |
DavidEGrayson | 44:edcacba44760 | 31 | Timer timer; |
DavidEGrayson | 44:edcacba44760 | 32 | uint32_t angleUnsigned; |
DavidEGrayson | 44:edcacba44760 | 33 | int16_t rate; |
DavidEGrayson | 44:edcacba44760 | 34 | uint16_t gyroLastUpdate; |
DavidEGrayson | 44:edcacba44760 | 35 | }; |