David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
Diff: encoders.cpp
- Revision:
- 9:9734347b5756
- Parent:
- 8:78b1ff957cba
- Child:
- 12:835a4d24ae3b
diff -r 78b1ff957cba -r 9734347b5756 encoders.cpp --- a/encoders.cpp Sat Feb 22 02:23:21 2014 +0000 +++ b/encoders.cpp Sat Feb 22 03:03:37 2014 +0000 @@ -1,21 +1,21 @@ #include "encoders.h" -const PinName encoderPin1A = p6, - encoderPin1B = p7, - encoderPin2A = p8, - encoderPin2B = p9; +const PinName encoderPinLeftA = p6, // Gray wire + encoderPinLeftB = p7, // White wire + encoderPinRightA = p30, // White wire + encoderPinRightB = p29; // Gray wire PololuEncoderBuffer encoderBuffer; -PololuEncoder encoder1(encoderPin1A, encoderPin1B, &encoderBuffer, ENCODER1); -PololuEncoder encoder2(encoderPin2A, encoderPin2B, &encoderBuffer, ENCODER2); +PololuEncoder encoderLeft(encoderPinLeftA, encoderPinLeftB, &encoderBuffer, ENCODER1); +PololuEncoder encoderRight(encoderPinRightA, encoderPinRightB, &encoderBuffer, ENCODER2); -void encoders_init() +void encodersInit() { - DigitalIn(encoderPin1A).mode(PullUp); - DigitalIn(encoderPin1B).mode(PullUp); - DigitalIn(encoderPin2A).mode(PullUp); - DigitalIn(encoderPin2B).mode(PullUp); + DigitalIn(encoderPinLeftA).mode(PullNone); + DigitalIn(encoderPinLeftB).mode(PullNone); + DigitalIn(encoderPinRightA).mode(PullNone); + DigitalIn(encoderPinRightB).mode(PullNone); wait_us(50); - encoder1.init(); - encoder2.init(); + encoderLeft.init(); + encoderRight.init(); } \ No newline at end of file