David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
logger.h@57:99bec7fab454, 2015-04-16 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Thu Apr 16 22:00:15 2015 +0000
- Revision:
- 57:99bec7fab454
- Parent:
- 52:05a8e919ddb0
Doubled the encoder counts for indicating the end of the course because we might have to start a little bit back from the finish line.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 37:23000a47ed2b | 1 | #pragma once |
DavidEGrayson | 37:23000a47ed2b | 2 | |
DavidEGrayson | 37:23000a47ed2b | 3 | #include <stdint.h> |
DavidEGrayson | 37:23000a47ed2b | 4 | |
DavidEGrayson | 37:23000a47ed2b | 5 | #define LOGGER_SIZE 2000 |
DavidEGrayson | 37:23000a47ed2b | 6 | |
DavidEGrayson | 37:23000a47ed2b | 7 | struct LogEntry |
DavidEGrayson | 37:23000a47ed2b | 8 | { |
DavidEGrayson | 46:f11cb4f93aac | 9 | int16_t turnAngle; |
DavidEGrayson | 37:23000a47ed2b | 10 | int16_t x; |
DavidEGrayson | 37:23000a47ed2b | 11 | int16_t y; |
DavidEGrayson | 37:23000a47ed2b | 12 | }; |
DavidEGrayson | 37:23000a47ed2b | 13 | |
DavidEGrayson | 37:23000a47ed2b | 14 | class Logger |
DavidEGrayson | 37:23000a47ed2b | 15 | { |
DavidEGrayson | 37:23000a47ed2b | 16 | public: |
DavidEGrayson | 37:23000a47ed2b | 17 | Logger(); |
DavidEGrayson | 48:c84b7b3ab0e8 | 18 | void log(struct LogEntry *); |
DavidEGrayson | 37:23000a47ed2b | 19 | void dump(); |
DavidEGrayson | 37:23000a47ed2b | 20 | bool isFull(); |
DavidEGrayson | 52:05a8e919ddb0 | 21 | int32_t getSize() { return entryIndex; } |
DavidEGrayson | 37:23000a47ed2b | 22 | |
DavidEGrayson | 37:23000a47ed2b | 23 | LogEntry entries[LOGGER_SIZE]; |
DavidEGrayson | 37:23000a47ed2b | 24 | |
DavidEGrayson | 37:23000a47ed2b | 25 | // The index of the next entry to write to. |
DavidEGrayson | 52:05a8e919ddb0 | 26 | uint32_t entryIndex; |
DavidEGrayson | 37:23000a47ed2b | 27 | }; |
DavidEGrayson | 37:23000a47ed2b | 28 |