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@38:5e93a479c244, 2014-03-13 (annotated)

Committer:
DavidEGrayson
Date:
Thu Mar 13 17:49:43 2014 +0000
Revision:
38:5e93a479c244
Parent:
12:835a4d24ae3b
Child:
39:b19dfc5d4d4b
The final version of the code that was used for the competition.;

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 }