Gerardo Carmona
Not finished. This is my first attemp to make an autonomous vehicle for the Sparkfun Autonomous Competition (https://avc.sparkfun.com/) of June 2015.
Dependencies: FXOS8700CQ SDFileSystem mbed
Fork of
AVC_Robot_Controled_Navigation
by 
AVR Competition
- For my autonomous robot I will use a GPS, magnometer, accelerometer, and encoders.
- I control my robot with a remote control to save the GPS points (detect turns) using a xBee radio and save them to a file in a SD card.
Diff: my_libraries/encoders.cpp
- Revision:
- 3:bd16e43ad7be
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/my_libraries/encoders.cpp Fri Oct 17 06:21:52 2014 +0000
@@ -0,0 +1,46 @@
+// ----- Libraries ------------------------------------------------------------------
+#include "mbed.h"
+#include "encoders.h"
+
+// ----- I/O Pins -------------------------------------------------------------------
+InterruptIn interrupt_encoder_der(D2);
+InterruptIn interrupt_encoder_izq(D3);
+
+
+int flanco_bajada_rigth;
+int flanco_bajada_left;
+
+// ----- Functions ------------------------------------------------------------------
+void encoders_to_zero(){
+ flanco_bajada_rigth = 0;
+ flanco_bajada_left = 0;
+}
+
+void falling_encoder_rigth(void){
+ flanco_bajada_rigth++;
+}
+
+void falling_encoder_left(void){
+ flanco_bajada_left++;
+}
+
+void init_encoders(){
+ interrupt_encoder_der.fall(&falling_encoder_rigth);
+ interrupt_encoder_izq.fall(&falling_encoder_left);
+}
+
+float encoder(int sensor_encoder){
+ int read_encoder = 0;
+ float distancia;
+
+ if(sensor_encoder==encoder_rigth){
+ read_encoder= flanco_bajada_rigth;
+
+ }else if(sensor_encoder==encoder_left){
+ read_encoder= flanco_bajada_left;
+
+ }
+ distancia= (read_encoder/5)*2.2580;
+
+ return distancia;
+}
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