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

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

Committer:
DavidEGrayson
Date:
Sat Jul 27 22:52:19 2019 +0000
Revision:
43:0e985a58f174
Parent:
36:ccb03b734737 
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 21:c279c6a83671 1 #pragma once
DavidEGrayson 21:c279c6a83671 2
DavidEGrayson 43:0e985a58f174 3 #define RECKONER_LOG_UNIT 14
DavidEGrayson 43:0e985a58f174 4
DavidEGrayson 12:835a4d24ae3b 5 class Reckoner
DavidEGrayson 12:835a4d24ae3b 6 {
DavidEGrayson 43:0e985a58f174 7 public:
DavidEGrayson 12:835a4d24ae3b 8
DavidEGrayson 12:835a4d24ae3b 9 Reckoner();
DavidEGrayson 12:835a4d24ae3b 10
DavidEGrayson 43:0e985a58f174 11 // Together, cos and sin form a vector with a magnitude close to 2^14 that
DavidEGrayson 43:0e985a58f174 12 // indicate the current direction the robot is facint.
DavidEGrayson 43:0e985a58f174 13 int32_t cosv, sinv;
DavidEGrayson 12:835a4d24ae3b 14
DavidEGrayson 12:835a4d24ae3b 15 // Together, x and y are a vector that points from the starting point to the
DavidEGrayson 43:0e985a58f174 16 // robot's current position, with units of Df / (1<<14), where Df is the
DavidEGrayson 43:0e985a58f174 17 // distance the robot moves due to a single encoder tick.
DavidEGrayson 12:835a4d24ae3b 18 int32_t x, y;
DavidEGrayson 12:835a4d24ae3b 19
DavidEGrayson 21:c279c6a83671 20 void reset();
DavidEGrayson 12:835a4d24ae3b 21 void handleForward();
DavidEGrayson 12:835a4d24ae3b 22 void handleBackward();
DavidEGrayson 43:0e985a58f174 23 void setTurnAngle(int32_t angle);
DavidEGrayson 12:835a4d24ae3b 24 };