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

line_sensors.cpp@40:e79cefc241f8, 2015-04-14 (annotated)

Committer:
DavidEGrayson
Date:
Tue Apr 14 01:45:01 2015 +0000
Revision:
40:e79cefc241f8
Parent:
32:83a13b06093c 
added that derivative term;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 10:e4dd36148539 1 #include "line_sensors.h"
DavidEGrayson 10:e4dd36148539 2
DavidEGrayson 31:739b91331f31 3 DigitalInOut lineSensorsDigital[LINE_SENSOR_COUNT] = {
DavidEGrayson 32:83a13b06093c 4 DigitalInOut(p18), // white wire, left-most sensor
DavidEGrayson 31:739b91331f31 5 DigitalInOut(p19), // orange wire, middle sensor
DavidEGrayson 32:83a13b06093c 6 DigitalInOut(p20), // brown wire, right-most sensor
DavidEGrayson 29:cfcf08d8ac79 7 };
DavidEGrayson 29:cfcf08d8ac79 8
DavidEGrayson 31:739b91331f31 9 void readSensors(uint16_t * values)
DavidEGrayson 31:739b91331f31 10 {
DavidEGrayson 31:739b91331f31 11 for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
DavidEGrayson 31:739b91331f31 12 {
DavidEGrayson 31:739b91331f31 13 values[i] = 1000;
DavidEGrayson 31:739b91331f31 14 lineSensorsDigital[i].mode(PullNone);
DavidEGrayson 31:739b91331f31 15 lineSensorsDigital[i].output();
DavidEGrayson 31:739b91331f31 16 lineSensorsDigital[i].write(1);
DavidEGrayson 31:739b91331f31 17 }
DavidEGrayson 31:739b91331f31 18
DavidEGrayson 31:739b91331f31 19 wait_us(10);
DavidEGrayson 31:739b91331f31 20
DavidEGrayson 31:739b91331f31 21 for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
DavidEGrayson 31:739b91331f31 22 {
DavidEGrayson 31:739b91331f31 23 lineSensorsDigital[i].input();
DavidEGrayson 31:739b91331f31 24 }
DavidEGrayson 31:739b91331f31 25
DavidEGrayson 40:e79cefc241f8 26 Timer timer;
DavidEGrayson 40:e79cefc241f8 27 timer.start();
DavidEGrayson 40:e79cefc241f8 28
DavidEGrayson 31:739b91331f31 29 while(timer.read_us() < 1000)
DavidEGrayson 31:739b91331f31 30 {
DavidEGrayson 31:739b91331f31 31 for(uint8_t i = 0; i < LINE_SENSOR_COUNT; i++)
DavidEGrayson 31:739b91331f31 32 {
DavidEGrayson 31:739b91331f31 33 if (values[i] == 1000 && lineSensorsDigital[i].read() == 0)
DavidEGrayson 31:739b91331f31 34 {
DavidEGrayson 31:739b91331f31 35 values[i] = timer.read_us();
DavidEGrayson 31:739b91331f31 36 }
DavidEGrayson 31:739b91331f31 37 }
DavidEGrayson 31:739b91331f31 38 }
DavidEGrayson 31:739b91331f31 39 }
DavidEGrayson 31:739b91331f31 40
DavidEGrayson 31:739b91331f31 41
DavidEGrayson 29:cfcf08d8ac79 42 /**
DavidEGrayson 29:cfcf08d8ac79 43 uint16_t analogReadWithFilter(AnalogIn * input)
DavidEGrayson 29:cfcf08d8ac79 44 {
DavidEGrayson 29:cfcf08d8ac79 45 uint16_t readings[3];
DavidEGrayson 29:cfcf08d8ac79 46 for(uint8_t i = 0; i < 3; i++)
DavidEGrayson 29:cfcf08d8ac79 47 {
DavidEGrayson 29:cfcf08d8ac79 48 readings[i] = input->read_u16();
DavidEGrayson 29:cfcf08d8ac79 49 }
DavidEGrayson 29:cfcf08d8ac79 50
DavidEGrayson 29:cfcf08d8ac79 51 if (readings[0] <= readings[1] && readings[0] >= readings[2])
DavidEGrayson 29:cfcf08d8ac79 52 {
DavidEGrayson 29:cfcf08d8ac79 53 return readings[0];
DavidEGrayson 29:cfcf08d8ac79 54 }
DavidEGrayson 29:cfcf08d8ac79 55 if (readings[1] <= readings[0] && readings[1] >= readings[2])
DavidEGrayson 29:cfcf08d8ac79 56 {
DavidEGrayson 29:cfcf08d8ac79 57 return readings[1];
DavidEGrayson 29:cfcf08d8ac79 58 }
DavidEGrayson 29:cfcf08d8ac79 59 return readings[2];
DavidEGrayson 29:cfcf08d8ac79 60 }
DavidEGrayson 29:cfcf08d8ac79 61 **/