David's line following code from the LVBots competition, 2015.
Dependencies: GeneralDebouncer Pacer PololuEncoder mbed
Fork of DeadReckoning by
Diff: turn_sensor.cpp
- Revision:
- 45:e16e74bbbf8c
- Parent:
- 44:edcacba44760
- Child:
- 46:f11cb4f93aac
diff -r edcacba44760 -r e16e74bbbf8c turn_sensor.cpp --- a/turn_sensor.cpp Wed Apr 15 19:14:39 2015 +0000 +++ b/turn_sensor.cpp Wed Apr 15 19:19:19 2015 +0000 @@ -19,6 +19,7 @@ // error return; } + rate = gz; // First figure out how much time has passed since the last update (dt) uint16_t m = timer.read_us(); @@ -40,8 +41,4 @@ // = 14680064/17578125 unit/(digit*us) angleUnsigned += (int64_t)d * 14680064 / 17578125; } - else - { - angleUnsigned += 5; - } } \ No newline at end of file