This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
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Diff: Actuators/Hallsensor.h
- Revision:
- 6:48eeb41188dd
- Parent:
- 3:92ba0254af87
- Child:
- 11:775ebb69d5e1
--- a/Actuators/Hallsensor.h Thu Mar 21 08:56:53 2013 +0000 +++ b/Actuators/Hallsensor.h Sat Mar 23 13:52:48 2013 +0000 @@ -14,11 +14,30 @@ * @section DESCRIPTION * * Interface to count the Hallsensor input from a EC-Motor. - * + * */ class Hallsensor { +private: + + /** + * Update the pulse count. + * Called on every rising/falling edge of Hall 1-3. + * Reads the state of the channels and determines whether a pulse forward + * or backward has occured, updating the count appropriately. + */ + void encode(void); + + InterruptIn hall1_; + InterruptIn hall2_; + InterruptIn hall3_; + + int prevState_; + int currState_; + + volatile int pulses_; + public: /** @@ -52,25 +71,6 @@ */ int getRevolutions(void); -private: - - /** - * Update the pulse count. - * Called on every rising/falling edge of Hall 1-3. - * Reads the state of the channels and determines whether a pulse forward - * or backward has occured, updating the count appropriately. - */ - void encode(void); - - InterruptIn hall1_; - InterruptIn hall2_; - InterruptIn hall3_; - - int prevState_; - int currState_; - - volatile int pulses_; - }; #endif /* Hallsensor_H */