David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
encoders.cpp
- Committer:
- DavidEGrayson
- Date:
- 2015-04-15
- Revision:
- 47:cb5c1504c24d
- Parent:
- 12:835a4d24ae3b
File content as of revision 47:cb5c1504c24d:
#include "encoders.h" const PinName encoderPinLeftA = p6, // Gray wire encoderPinLeftB = p7, // White wire encoderPinRightA = p30, // White wire encoderPinRightB = p29; // Gray wire PololuEncoderBuffer encoderBuffer; PololuEncoder encoderLeft(encoderPinLeftA, encoderPinLeftB, &encoderBuffer, ENCODER_LEFT); PololuEncoder encoderRight(encoderPinRightA, encoderPinRightB, &encoderBuffer, ENCODER_RIGHT); void encodersInit() { DigitalIn(encoderPinLeftA).mode(PullNone); DigitalIn(encoderPinLeftB).mode(PullNone); DigitalIn(encoderPinRightA).mode(PullNone); DigitalIn(encoderPinRightB).mode(PullNone); wait_us(50); encoderLeft.init(); encoderRight.init(); }