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

encoders.cpp@13:bba5b3abd13f, 2014-02-23 (annotated)

Committer:
DavidEGrayson
Date:
Sun Feb 23 23:49:58 2014 +0000
Revision:
13:bba5b3abd13f
Parent:
12:835a4d24ae3b
Child:
39:b19dfc5d4d4b
testReckoner routine works great!  I can roll my robot around and it always knows what quadrant it is pointing to and knows what quadrant it is in!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 8:78b1ff957cba 1 #include "encoders.h"
DavidEGrayson 8:78b1ff957cba 2
DavidEGrayson 9:9734347b5756 3 const PinName encoderPinLeftA = p6, // Gray wire
DavidEGrayson 9:9734347b5756 4 encoderPinLeftB = p7, // White wire
DavidEGrayson 9:9734347b5756 5 encoderPinRightA = p30, // White wire
DavidEGrayson 9:9734347b5756 6 encoderPinRightB = p29; // Gray wire
DavidEGrayson 8:78b1ff957cba 7
DavidEGrayson 8:78b1ff957cba 8 PololuEncoderBuffer encoderBuffer;
DavidEGrayson 12:835a4d24ae3b 9 PololuEncoder encoderLeft(encoderPinLeftA, encoderPinLeftB, &encoderBuffer, ENCODER_LEFT);
DavidEGrayson 12:835a4d24ae3b 10 PololuEncoder encoderRight(encoderPinRightA, encoderPinRightB, &encoderBuffer, ENCODER_RIGHT);
DavidEGrayson 8:78b1ff957cba 11
DavidEGrayson 9:9734347b5756 12 void encodersInit()
DavidEGrayson 8:78b1ff957cba 13 {
DavidEGrayson 9:9734347b5756 14 DigitalIn(encoderPinLeftA).mode(PullNone);
DavidEGrayson 9:9734347b5756 15 DigitalIn(encoderPinLeftB).mode(PullNone);
DavidEGrayson 9:9734347b5756 16 DigitalIn(encoderPinRightA).mode(PullNone);
DavidEGrayson 9:9734347b5756 17 DigitalIn(encoderPinRightB).mode(PullNone);
DavidEGrayson 8:78b1ff957cba 18 wait_us(50);
DavidEGrayson 9:9734347b5756 19 encoderLeft.init();
DavidEGrayson 9:9734347b5756 20 encoderRight.init();
DavidEGrayson 8:78b1ff957cba 21 }