Michael Shimniok
Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
Diff: Sensors/Sensors.cpp
- Revision:
- 2:fbc6e3cf3ed8
- Parent:
- 0:a6a169de725f
- Child:
- 12:5dfa1ab47838
--- a/Sensors/Sensors.cpp Tue May 28 13:58:35 2013 +0000
+++ b/Sensors/Sensors.cpp Thu Jun 06 13:40:23 2013 +0000
@@ -39,8 +39,7 @@
///////////////////// MAGNETOMETER CALIBRATION
Sensors::Sensors():
- //gps(p9, p10), // Ublox6 GPS
- gps(p26, p25), // Venus GPS
+ gps(p26, p25),
_voltage(p19), // Voltage from sensor board
_current(p20), // Current from sensor board
_left(p30), // left wheel encoder
@@ -111,7 +110,7 @@
// TODO: get rid of state variable
lrEncDistance = (WHEEL_CIRC / WHEEL_STRIPES) * (double) leftCount;
rrEncDistance = (WHEEL_CIRC / WHEEL_STRIPES) * (double) rightCount;
- encDistance = (lrEncDistance + rrEncDistance) / 2.0;
+ //encDistance = (lrEncDistance + rrEncDistance) / 2.0;
// compute speed from time between ticks
int leftTime = _left.readTime();
int rightTime = _right.readTime();