David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
reckoner.h
- Committer:
- DavidEGrayson
- Date:
- 2015-04-16
- Revision:
- 57:99bec7fab454
- Parent:
- 46:f11cb4f93aac
File content as of revision 57:99bec7fab454:
#pragma once class Reckoner { public: Reckoner(); // Together, cos and sin form a vector with a magnitude close to 2^30 that indicates // the current position of the robot. // cos corresponds to the x component of the orientation vector. // sin corresponds to the y component of the orientation vector. int32_t cosv, sinv; // Together, x and y are a vector that points from the starting point to the // robot's current position. // The untis are Df / (1<<14), where Df is the distance the robot moves forward // or backwards due to a single encoder tick. int32_t x, y; void reset(); void handleTickLeftForward(); void handleTickLeftBackward(); void handleTickRightForward(); void handleTickRightBackward(); void handleForward(); void handleBackward(); void handleRight(); void handleLeft(); void handleTurnRadians(int32_t radians); void setTurnAngle(int32_t angle); };