Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Headers/Sensors.h@1:cfe6a6ad8dca, 2014-03-29 (annotated)

Committer:
goy5022
Date:
Sat Mar 29 13:25:23 2014 +0000
Revision:
1:cfe6a6ad8dca
Parent:
0:c2ec30f28676
Child:
2:997f57aee3b7
derp_1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goy5022 0:c2ec30f28676 1 #ifndef SENSORS_H
goy5022 0:c2ec30f28676 2 #define SENSORS_H
goy5022 0:c2ec30f28676 3
goy5022 0:c2ec30f28676 4 #include "Core.h"
goy5022 0:c2ec30f28676 5 #include "L3GD20.h"
goy5022 0:c2ec30f28676 6 #include "LSM303DLHC.h"
goy5022 0:c2ec30f28676 7
goy5022 0:c2ec30f28676 8 L3GD20 gyro(p9, p10);
goy5022 0:c2ec30f28676 9 LSM303DLHC compass(p9, p10);
goy5022 1:cfe6a6ad8dca 10 PwmOut ledF(p23);
goy5022 1:cfe6a6ad8dca 11 PwmOut ledR(p21);
goy5022 1:cfe6a6ad8dca 12 PwmOut ledL(p22);
goy5022 1:cfe6a6ad8dca 13 AnalogIn SenseR(p15);
goy5022 1:cfe6a6ad8dca 14 AnalogIn SenseL(p16);
goy5022 1:cfe6a6ad8dca 15 AnalogIn SenseF(p17);
goy5022 0:c2ec30f28676 16
goy5022 1:cfe6a6ad8dca 17 float alpha = 0.2f;
goy5022 1:cfe6a6ad8dca 18 float valL = 0.0;
goy5022 1:cfe6a6ad8dca 19 float valR = 0.0;
goy5022 1:cfe6a6ad8dca 20 float accL = 0;
goy5022 1:cfe6a6ad8dca 21 float accR = 0;
goy5022 1:cfe6a6ad8dca 22
goy5022 1:cfe6a6ad8dca 23 void collectSample()
goy5022 1:cfe6a6ad8dca 24 {
goy5022 1:cfe6a6ad8dca 25 valL = SenseL.read();
goy5022 1:cfe6a6ad8dca 26 valR = SenseR.read();
goy5022 1:cfe6a6ad8dca 27 accL = (alpha * valL) + (1.0 - alpha) * accL;
goy5022 1:cfe6a6ad8dca 28 accR = (alpha * valR) + (1.0 - alpha) * accR;
goy5022 1:cfe6a6ad8dca 29 }
goy5022 0:c2ec30f28676 30
goy5022 0:c2ec30f28676 31 #endif