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

Diff: turn_sensor.cpp

Revision:
47:9773dc14c834
Parent:
42:96671b71aac5
Child:
48:597738b77f77
--- a/turn_sensor.cpp	Sun Jul 28 22:20:12 2019 +0000
+++ b/turn_sensor.cpp	Wed Jul 31 07:14:09 2019 +0000
@@ -50,6 +50,17 @@
         // (0.07 dps/digit) * (1/1000000 s/us) * (2^29/45 unit/degree)
         // = 14680064/17578125 unit/(digit*us)
         
-        angleUnsigned += (int64_t)d * 14680064 / 17578125;
+        if (rate > 0)
+        {
+          // Counter-clockwise scale factor calculated from log_190730_2.csv.
+          const double scale = 1.012394298;
+          angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
+        }
+        else
+        {
+          // Clockwise scale factor calculated from log_190730_3.csv.
+          const double scale = 0.992376154;
+          angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
+        }
     }
 }
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