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

line_tracker.h@27:2456f68be679, 2014-03-01 (annotated)

Committer:
DavidEGrayson
Date:
Sat Mar 01 01:46:35 2014 +0000
Revision:
27:2456f68be679
Parent:
22:44c032e59ff5
Child:
46:df2c2d25c070
Fixed a major bug in the line following (reduceSpeed return value was not used).  Made finalSettleIn better by adding an integral term and increasing the settleSpeed from 200 to 300.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 21:c279c6a83671 1 #pragma once
DavidEGrayson 21:c279c6a83671 2
DavidEGrayson 21:c279c6a83671 3 #include "line_sensors.h"
DavidEGrayson 21:c279c6a83671 4
DavidEGrayson 21:c279c6a83671 5 class LineTracker
DavidEGrayson 21:c279c6a83671 6 {
DavidEGrayson 21:c279c6a83671 7 public:
DavidEGrayson 21:c279c6a83671 8 LineTracker();
DavidEGrayson 21:c279c6a83671 9
DavidEGrayson 21:c279c6a83671 10 void updateCalibration();
DavidEGrayson 21:c279c6a83671 11
DavidEGrayson 21:c279c6a83671 12 void read();
DavidEGrayson 21:c279c6a83671 13 bool getLineVisible();
DavidEGrayson 21:c279c6a83671 14 uint16_t getLinePosition();
DavidEGrayson 21:c279c6a83671 15
DavidEGrayson 21:c279c6a83671 16 uint16_t rawValues[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 17 uint16_t calibratedValues[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 18 uint16_t calibratedMaximum[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 19 uint16_t calibratedMinimum[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 20
DavidEGrayson 21:c279c6a83671 21 private:
DavidEGrayson 21:c279c6a83671 22 void readRawValues();
DavidEGrayson 21:c279c6a83671 23 void updateCalibratedValues();
DavidEGrayson 21:c279c6a83671 24 void updateLineStatus();
DavidEGrayson 22:44c032e59ff5 25
DavidEGrayson 22:44c032e59ff5 26 uint8_t calibrationState;
DavidEGrayson 22:44c032e59ff5 27 uint16_t recentValuesMax[LINE_SENSOR_COUNT];
DavidEGrayson 22:44c032e59ff5 28 uint16_t recentValuesMin[LINE_SENSOR_COUNT];
DavidEGrayson 21:c279c6a83671 29
DavidEGrayson 21:c279c6a83671 30 bool lineVisible;
DavidEGrayson 21:c279c6a83671 31 uint16_t linePosition;
DavidEGrayson 21:c279c6a83671 32 };