David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
test.cpp
- Committer:
- DavidEGrayson
- Date:
- 2014-02-22
- Revision:
- 9:9734347b5756
- Parent:
- 8:78b1ff957cba
- Child:
- 10:e4dd36148539
File content as of revision 9:9734347b5756:
// A file for testing routines that will not be used in the final firmware. #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; led2 = 0; led3 = 0; while(1) { motorsSpeedSet(0, 0); led2 = 0; led3 = 0; wait(2); motorsSpeedSet(300, 300); wait(2); motorsSpeedSet(-300, 300); wait(2); motorsSpeedSet(0, 0); led2 = 1; wait(2); motorsSpeedSet(600, 600); wait(2); motorsSpeedSet(0, 0); led3 = 1; wait(2); motorsSpeedSet(1200, 1200); wait(2); } }