David Grayson / Mbed 2 deprecated LineFollowing

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Dependencies:   GeneralDebouncer Pacer PololuEncoder mbed

Fork of DeadReckoning by David Grayson

main.cpp

Committer:
DavidEGrayson
Date:
2014-02-24
Revision:
17:2df9861f53ee
Parent:
16:8eaa5bc2bdb1
Child:
18:b65fbb795396

File content as of revision 17:2df9861f53ee:

#include <mbed.h>
#include <Pacer.h>

#include "motors.h"
#include "encoders.h"
#include "leds.h"
#include "pc_serial.h"
#include "test.h"
#include "reckoner.h"
#include "buttons.h"

int __attribute__((noreturn)) main()
{
    pc.baud(115200);
    
    // Enable pull-ups on encoder pins and give them a chance to settle.
    encodersInit();
    motorsInit();
    buttonsInit();

    // Test routines
    //testMotors();
    //testEncoders();
    //testLineSensors();
    //testReckoner();
    //testButtons();
    testDriveHome();

    while(1)
    {

    }
}

void __attribute__((noreturn)) driveHome()
{
    led1 = 1; led2 = 1; led3 = 0; led4 = 0;
    while(1)
    {
        
    }
}

void updateReckonerFromEncoders()
{
    while(encoderBuffer.hasEvents())
    {
        PololuEncoderEvent event = encoderBuffer.readEvent();
        switch(event)
        {
        case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
            reckoner.handleTickLeftForward();
            break;
        case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
            reckoner.handleTickLeftBackward();
            break;
        case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
            reckoner.handleTickRightForward();
            break;
        case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
            reckoner.handleTickRightBackward();
            break;
        }
    }
}