![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
Actuators/Hallsensor.cpp
- Committer:
- chrigelburri
- Date:
- 2013-03-07
- Revision:
- 3:92ba0254af87
File content as of revision 3:92ba0254af87:
#include "Hallsensor.h" Hallsensor::Hallsensor( PinName hall1, PinName hall2, PinName hall3 ) : hall1_(hall1), hall2_(hall2), hall3_(hall3) { pulses_ = 0; //Workout what the current state is. int h1 = hall1_.read(); int h2 = hall2_.read(); int h3 = hall3_.read(); // Set the PullUp Resistor hall1_.mode(PullUp); hall2_.mode(PullUp); hall3_.mode(PullUp); //set interrupts on only hall 1-3 rise and fall. hall1_.rise(this, &Hallsensor::encode); hall1_.fall(this, &Hallsensor::encode); hall2_.rise(this, &Hallsensor::encode); hall2_.fall(this, &Hallsensor::encode); hall3_.rise(this, &Hallsensor::encode); hall3_.fall(this, &Hallsensor::encode); } void Hallsensor::reset(void) { pulses_ = 0; } int Hallsensor::getPulses(void) { return pulses_; } void Hallsensor::encode(void) { // read the state int h1 = hall1_.read(); int h2 = hall2_.read(); int h3 = hall3_.read(); //3-bit state. currState_ = (h1 << 2) | (h2 << 1) | h3; if ((prevState_ == 0x5) && (currState_ == 0x4)) { pulses_++; prevState_ = currState_; return; } else if (prevState_ == 0x5 && currState_ == 0x1) { pulses_--; prevState_ = currState_; return; } if ((prevState_ == 0x4) && (currState_ == 0x6)) { pulses_++; prevState_ = currState_; return; } else if (prevState_ == 0x4 && currState_ == 0x5) { pulses_--; prevState_ = currState_; return; } if ((prevState_ == 0x6) && (currState_ == 0x2)) { pulses_++; prevState_ = currState_; return; } else if (prevState_ == 0x6 && currState_ == 0x4) { pulses_--; prevState_ = currState_; return; } if ((prevState_ == 0x2) && (currState_ == 0x3)) { pulses_++; prevState_ = currState_; return; } else if (prevState_ == 0x2 && currState_ == 0x6) { pulses_--; prevState_ = currState_; return; } if ((prevState_ == 0x3) && (currState_ == 0x1)) { pulses_++; prevState_ = currState_; return; } else if (prevState_ == 0x3 && currState_ == 0x2) { pulses_--; prevState_ = currState_; return; } if ((prevState_ == 0x1) && (currState_ == 0x5)) { pulses_++; prevState_ = currState_; return; } else if (prevState_ == 0x1 && currState_ == 0x3) { pulses_--; prevState_ = currState_; return; } prevState_ = currState_; }