David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
Diff: test.cpp
- Revision:
- 9:9734347b5756
- Parent:
- 8:78b1ff957cba
- Child:
- 10:e4dd36148539
--- a/test.cpp Sat Feb 22 02:23:21 2014 +0000 +++ b/test.cpp Sat Feb 22 03:03:37 2014 +0000 @@ -2,9 +2,38 @@ #include <mbed.h> #include "motors.h" +#include <Pacer.h> + +#include "test.h" #include "leds.h" +#include "encoders.h" #include "pc_serial.h" +void testEncoders() +{ + Pacer reportPacer(500000); + Pacer blinkPacer(200000); + while(1) + { + while(encoderBuffer.hasEvents()) + { + PololuEncoderEvent event = encoderBuffer.readEvent(); + } + + if(reportPacer.pace()) + { + led2 = 1; + pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); + led2 = 0; + } + + if (blinkPacer.pace()) + { + led1 = !led1; + } + } +} + void testMotors() { led1 = 1; @@ -12,29 +41,29 @@ led3 = 0; while(1) { - motors_speed_set(0, 0); + motorsSpeedSet(0, 0); led2 = 0; led3 = 0; wait(2); - motors_speed_set(300, 300); + motorsSpeedSet(300, 300); wait(2); - motors_speed_set(-300, 300); + motorsSpeedSet(-300, 300); wait(2); - motors_speed_set(0, 0); + motorsSpeedSet(0, 0); led2 = 1; wait(2); - motors_speed_set(600, 600); + motorsSpeedSet(600, 600); wait(2); - motors_speed_set(0, 0); + motorsSpeedSet(0, 0); led3 = 1; wait(2); - motors_speed_set(1200, 1200); + motorsSpeedSet(1200, 1200); wait(2); } } \ No newline at end of file