David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
Diff: main.cpp
- Revision:
- 17:2df9861f53ee
- Parent:
- 16:8eaa5bc2bdb1
- Child:
- 18:b65fbb795396
--- a/main.cpp Mon Feb 24 01:26:00 2014 +0000 +++ b/main.cpp Mon Feb 24 01:38:55 2014 +0000 @@ -23,7 +23,8 @@ //testEncoders(); //testLineSensors(); //testReckoner(); - testButtons(); + //testButtons(); + testDriveHome(); while(1) { @@ -31,6 +32,15 @@ } } +void __attribute__((noreturn)) driveHome() +{ + led1 = 1; led2 = 1; led3 = 0; led4 = 0; + while(1) + { + + } +} + void updateReckonerFromEncoders() { while(encoderBuffer.hasEvents()) @@ -38,19 +48,19 @@ PololuEncoderEvent event = encoderBuffer.readEvent(); switch(event) { - case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: - reckoner.handleTickLeftForward(); - break; - case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: - reckoner.handleTickLeftBackward(); - break; - case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: - reckoner.handleTickRightForward(); - break; - case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: - reckoner.handleTickRightBackward(); - break; - + case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC: + reckoner.handleTickLeftForward(); + break; + case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC: + reckoner.handleTickLeftBackward(); + break; + case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC: + reckoner.handleTickRightForward(); + break; + case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC: + reckoner.handleTickRightBackward(); + break; } } } +