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

Files at this revision

API Documentation at this revision

Revision 48:597738b77f77, committed 2019-08-13

Comitter:
DavidEGrayson
Date:
Tue Aug 13 21:21:17 2019 +0000
Parent:
47:9773dc14c834
Commit message:
Changes from before the contest, I think.

Changed in this revision

logger.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
turn_sensor.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/logger.h	Wed Jul 31 07:14:09 2019 +0000
+++ b/logger.h	Tue Aug 13 21:21:17 2019 +0000
@@ -2,7 +2,7 @@
 
 #include <stdint.h>
 
-#define LOGGER_SIZE 2000
+#define LOGGER_SIZE 3000
 
 struct LogEntry
 {

--- a/main.cpp	Wed Jul 31 07:14:09 2019 +0000
+++ b/main.cpp	Tue Aug 13 21:21:17 2019 +0000
@@ -22,13 +22,14 @@
 TurnSensor turnSensor;
 Logger logger;
 
+const uint32_t timeout = 0;
+
+const uint32_t logSpacing = 200;
+
+const int16_t drivingSpeed = 500;
+
 uint32_t totalEncoderCounts = 0;
 uint32_t nextLogEncoderCount = 0;
-const uint32_t logSpacing = 250;
-
-const int16_t drivingSpeed = 400;
-
-const uint32_t timeout = 1*60000;
 
 
 void setLeds(bool v1, bool v2, bool v3, bool v4)

--- a/turn_sensor.cpp	Wed Jul 31 07:14:09 2019 +0000
+++ b/turn_sensor.cpp	Tue Aug 13 21:21:17 2019 +0000
@@ -52,14 +52,16 @@
         
         if (rate > 0)
         {
-          // Counter-clockwise scale factor calculated from log_190730_2.csv.
-          const double scale = 1.012394298;
+          // Counter-clockwise scale factors from
+          // log_190730_2.csv and log_190801_4.csv.
+          const double scale = 1.012394298 * 0.998207092;
           angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
         }
         else
         {
-          // Clockwise scale factor calculated from log_190730_3.csv.
-          const double scale = 0.992376154;
+          // Clockwise scale factor calculated from
+          // log_190730_3.csv and then log_190801_3.csv.
+          const double scale = 0.992376154 * 0.999892525;
           angleUnsigned += (int64_t)d * (int32_t)(14680064 * scale) / 17578125;
         }
     }