David Grayson / Mbed 2 deprecated DeadReckoning

David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.

Dependencies:   PololuEncoder Pacer mbed GeneralDebouncer

l3g.h@43:0e985a58f174, 2019-07-27 (annotated)

Committer:
DavidEGrayson
Date:
Sat Jul 27 22:52:19 2019 +0000
Revision:
43:0e985a58f174
Parent:
42:96671b71aac5 
Changed reckoner to use readings from turnSensor (Gyro) to get its direction vector instead of encoder ticks.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 40:6fa672be85ec 1 #pragma once
DavidEGrayson 40:6fa672be85ec 2
DavidEGrayson 40:6fa672be85ec 3 // Returns 0 for success, non-zero for error.
DavidEGrayson 40:6fa672be85ec 4 int32_t l3gInit();
DavidEGrayson 40:6fa672be85ec 5 int32_t l3gReadReg(char reg);
DavidEGrayson 40:6fa672be85ec 6 int32_t l3gWriteReg(char reg, char value);
DavidEGrayson 40:6fa672be85ec 7 int32_t l3gZRead();
DavidEGrayson 42:96671b71aac5 8 int32_t l3gZAvailable();
DavidEGrayson 42:96671b71aac5 9
DavidEGrayson 42:96671b71aac5 10 // Takes one reading and record it for the purposes of zero-rate calibrations.
DavidEGrayson 42:96671b71aac5 11 // Returns the reading just in case you want it for something.
DavidEGrayson 42:96671b71aac5 12 int32_t l3gCalibrate();
DavidEGrayson 42:96671b71aac5 13
DavidEGrayson 42:96671b71aac5 14 bool l3gCalibrateDone();
DavidEGrayson 42:96671b71aac5 15
DavidEGrayson 42:96671b71aac5 16 void l3gCalibrateReset();
DavidEGrayson 42:96671b71aac5 17
DavidEGrayson 42:96671b71aac5 18 int32_t l3gZReadCalibrated();