David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
test.cpp@9:9734347b5756, 2014-02-22 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Sat Feb 22 03:03:37 2014 +0000
- Revision:
- 9:9734347b5756
- Parent:
- 8:78b1ff957cba
- Child:
- 10:e4dd36148539
Made verything use CamelCase.;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 8:78b1ff957cba | 1 | // A file for testing routines that will not be used in the final firmware. |
DavidEGrayson | 8:78b1ff957cba | 2 | |
DavidEGrayson | 8:78b1ff957cba | 3 | #include <mbed.h> |
DavidEGrayson | 8:78b1ff957cba | 4 | #include "motors.h" |
DavidEGrayson | 9:9734347b5756 | 5 | #include <Pacer.h> |
DavidEGrayson | 9:9734347b5756 | 6 | |
DavidEGrayson | 9:9734347b5756 | 7 | #include "test.h" |
DavidEGrayson | 8:78b1ff957cba | 8 | #include "leds.h" |
DavidEGrayson | 9:9734347b5756 | 9 | #include "encoders.h" |
DavidEGrayson | 8:78b1ff957cba | 10 | #include "pc_serial.h" |
DavidEGrayson | 8:78b1ff957cba | 11 | |
DavidEGrayson | 9:9734347b5756 | 12 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 13 | { |
DavidEGrayson | 9:9734347b5756 | 14 | Pacer reportPacer(500000); |
DavidEGrayson | 9:9734347b5756 | 15 | Pacer blinkPacer(200000); |
DavidEGrayson | 9:9734347b5756 | 16 | while(1) |
DavidEGrayson | 9:9734347b5756 | 17 | { |
DavidEGrayson | 9:9734347b5756 | 18 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 19 | { |
DavidEGrayson | 9:9734347b5756 | 20 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 21 | } |
DavidEGrayson | 9:9734347b5756 | 22 | |
DavidEGrayson | 9:9734347b5756 | 23 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 24 | { |
DavidEGrayson | 9:9734347b5756 | 25 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 26 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 27 | led2 = 0; |
DavidEGrayson | 9:9734347b5756 | 28 | } |
DavidEGrayson | 9:9734347b5756 | 29 | |
DavidEGrayson | 9:9734347b5756 | 30 | if (blinkPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 31 | { |
DavidEGrayson | 9:9734347b5756 | 32 | led1 = !led1; |
DavidEGrayson | 9:9734347b5756 | 33 | } |
DavidEGrayson | 9:9734347b5756 | 34 | } |
DavidEGrayson | 9:9734347b5756 | 35 | } |
DavidEGrayson | 9:9734347b5756 | 36 | |
DavidEGrayson | 8:78b1ff957cba | 37 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 38 | { |
DavidEGrayson | 8:78b1ff957cba | 39 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 40 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 41 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 42 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 43 | { |
DavidEGrayson | 9:9734347b5756 | 44 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 45 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 46 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 47 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 48 | |
DavidEGrayson | 9:9734347b5756 | 49 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 50 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 51 | |
DavidEGrayson | 9:9734347b5756 | 52 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 53 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 54 | |
DavidEGrayson | 9:9734347b5756 | 55 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 56 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 57 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 58 | |
DavidEGrayson | 9:9734347b5756 | 59 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 60 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 61 | |
DavidEGrayson | 9:9734347b5756 | 62 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 63 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 64 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 65 | |
DavidEGrayson | 9:9734347b5756 | 66 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 67 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 68 | } |
DavidEGrayson | 8:78b1ff957cba | 69 | } |