Diff: encoderBase.cpp

Revision:

0:5ffcaef3e603

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoderBase.cpp	Wed Apr 18 16:53:05 2018 +0000
@@ -0,0 +1,47 @@
+/*#include "mbed.h"
+#include "QEI.h"
+#include "pins.cpp"
+#define ENCODER_PULSE 256 //per manual
+#define GEAR_RATIO 
+#define SAMPLE_TIME 1.0f //user defined
+#define WHEEL_DISTANCE //need to measure that
+
+//these lines setup the encoders for both wheels
+QEI encoderRight(channelARight, channelBRight, channelIRight, ENCODER_PULSE);
+QEI encoderLeft(channelALeft, channelBLeft, channelILeft, ENCODER_PULSE);
+
+//main wheel class, the subclasses should follow later
+class Wheel{
+    int currentPulses, previousPulses;
+    public:
+        float wheelVelocity(float, int){
+        }
+    private:
+        float sampleTime= SAMPLE_TIME;
+        int gearRatio = GEAR_RATIO;
+        float encoderVelocity(){
+        return (currentEncoderTicks-previousEncoderTicks)/sampleTime;
+        }
+
+} wheelRight, wheelLeft;
+
+class WheelLeft
+
+//call this for speed, linear and angular
+class Buggy{
+    public:
+        float speedLinear(float wheelVelocityRight, float wheelVelocityLeft){
+            return (wheelVelocityRight+wheelVelocityLeft)/2;
+            }
+        float speedAngular(float wheelVelocityRight, float wheelVelocityLeft){
+            return (wheelVelocityRight-wheelVelocityLeft)/WHEEL_DISTANCE;
+            }
+    }
+int encoderTicks(){
+        previousEncoderTicks=currentEncoderTicks;
+        currentEncoderTicks=
+        }
+
+
+*/
+