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

main.cpp

Committer:
DavidEGrayson
Date:
2014-02-22
Revision:
8:78b1ff957cba
Parent:
7:85b8b5acfb22
Child:
9:9734347b5756

File content as of revision 8:78b1ff957cba:

#include <mbed.h>
#include <Pacer.h>

#include "motors.h"
#include "encoders.h"
#include "pc_serial.h"
#include "leds.h"

int main()
{
    pc.baud(115200);
    
    // Enable pull-ups on encoder pins and give them a chance to settle.
    encoders_init();
    motors_init();

    // Test routines
    motors_test();
    encoders_test();

    Pacer reportPacer(500000);
    Pacer blinkPacer(200000);
    while(1)
    {
        while(encoderBuffer.hasEvents())
        {
            PololuEncoderEvent event = encoderBuffer.readEvent();
        }
        
        if(reportPacer.pace())
        {
            led2 = 1;
            pc.printf("%8d %8d\n", encoder1.getCount(), encoder2.getCount());
            led2 = 0;
        }
        
        if (blinkPacer.pace())
        {
            led1 = !led1;
        }
    }
}