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 36:ccb03b734737, committed 2014-03-06

Comitter:
DavidEGrayson
Date:
Thu Mar 06 02:39:07 2014 +0000
Parent:
35:d365d755c686
Child:
37:23000a47ed2b
Commit message:
Reckoner: The order of changing cos and sign matters! I fixed it.

Changed in this revision

reckoner.cpp Show annotated file Show diff for this revision Revisions of this file
reckoner.h Show annotated file Show diff for this revision Revisions of this file 
--- a/reckoner.cpp	Wed Mar 05 04:43:36 2014 +0000
+++ b/reckoner.cpp	Thu Mar 06 02:39:07 2014 +0000
@@ -153,12 +153,18 @@
 
 void Reckoner::handleRight()
 {
-    cos += ((int64_t)sin * DA) >> LOG_UNIT_MAGNITUDE;
-    sin -= ((int64_t)cos * DA) >> LOG_UNIT_MAGNITUDE;
+    handleTurnRadians(-DA);
 }
 
 void Reckoner::handleLeft()
 {
-    cos -= ((int64_t)sin * DA) >> LOG_UNIT_MAGNITUDE;
-    sin += ((int64_t)cos * DA) >> LOG_UNIT_MAGNITUDE;
+    handleTurnRadians(DA);
+}
+
+void Reckoner::handleTurnRadians(int32_t radians)
+{
+    int32_t dc = -((int64_t)sin * radians) >> LOG_UNIT_MAGNITUDE;
+    int32_t ds = ((int64_t)cos * radians) >> LOG_UNIT_MAGNITUDE;
+    cos += dc;
+    sin += ds;
 }
\ No newline at end of file

--- a/reckoner.h	Wed Mar 05 04:43:36 2014 +0000
+++ b/reckoner.h	Thu Mar 06 02:39:07 2014 +0000
@@ -28,4 +28,5 @@
     void handleBackward();
     void handleRight();
     void handleLeft();
+    void handleTurnRadians(int32_t radians);
 };