David Grayson / Mbed 2 deprecated LineFollowing

David's line following code from the LVBots competition, 2015.

Dependencies:   GeneralDebouncer Pacer PololuEncoder mbed

Fork of DeadReckoning by David Grayson

encoders.cpp

Committer:
DavidEGrayson
Date:
2015-04-16
Revision:
57:99bec7fab454
Parent:
12:835a4d24ae3b

File content as of revision 57:99bec7fab454:

#include "encoders.h"

const PinName encoderPinLeftA = p6,   // Gray wire
              encoderPinLeftB = p7,   // White wire
              encoderPinRightA = p30,  // White wire
              encoderPinRightB = p29;  // Gray wire

PololuEncoderBuffer encoderBuffer;
PololuEncoder encoderLeft(encoderPinLeftA, encoderPinLeftB, &encoderBuffer, ENCODER_LEFT);
PololuEncoder encoderRight(encoderPinRightA, encoderPinRightB, &encoderBuffer, ENCODER_RIGHT);

void encodersInit()
{
    DigitalIn(encoderPinLeftA).mode(PullNone);
    DigitalIn(encoderPinLeftB).mode(PullNone);
    DigitalIn(encoderPinRightA).mode(PullNone);
    DigitalIn(encoderPinRightB).mode(PullNone);
    wait_us(50);
    encoderLeft.init();
    encoderRight.init();   
}