David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
turn_sensor.h
- Committer:
- DavidEGrayson
- Date:
- 2015-04-15
- Revision:
- 47:cb5c1504c24d
- Parent:
- 44:edcacba44760
- Child:
- 50:517c0f0e621f
File content as of revision 47:cb5c1504c24d:
#pragma once #include <mbed.h> class TurnSensor { // TODO: for production code, you would want a way to set the gyro offset public: void start(); void update(); int32_t getAngle() { return (int32_t)angleUnsigned; } int16_t getAngleDegrees() { return (((int32_t)angleUnsigned >> 16) * 360) >> 16; } int16_t getRate() { return rate; } private: Timer timer; uint32_t angleUnsigned; int16_t rate; uint16_t gyroLastUpdate; };