Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: Actuators/Hallsensor.cpp
- Revision:
- 12:235e318a414f
- Parent:
- 11:775ebb69d5e1
- Child:
- 13:a7c30ee09bae
--- a/Actuators/Hallsensor.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,115 +0,0 @@
-#include "Hallsensor.h"
-
-Hallsensor::Hallsensor(
- PinName hall1,
- PinName hall2,
- PinName hall3
-)
- : hall1_(hall1),
- hall2_(hall2),
- hall3_(hall3)
-{
- pulses_ = 0;
-
- //Workout what the current state is.
- int h1 = hall1_.read();
- int h2 = hall2_.read();
- int h3 = hall3_.read();
-
- // Set the PullUp Resistor
- hall1_.mode(PullUp);
- hall2_.mode(PullUp);
- hall3_.mode(PullUp);
-
- //set interrupts on only hall 1-3 rise and fall.
- hall1_.rise(this, &Hallsensor::encode);
- hall1_.fall(this, &Hallsensor::encode);
- hall2_.rise(this, &Hallsensor::encode);
- hall2_.fall(this, &Hallsensor::encode);
- hall3_.rise(this, &Hallsensor::encode);
- hall3_.fall(this, &Hallsensor::encode);
-}
-
-void Hallsensor::reset(void)
-{
- pulses_ = 0;
-}
-
-int Hallsensor::getPulses(void)
-{
- return pulses_;
-}
-
-
-void Hallsensor::encode(void)
-{
- // read the state
- int h1 = hall1_.read();
- int h2 = hall2_.read();
- int h3 = hall3_.read();
-
- //3-bit state.
- currState_ = (h1 << 2) | (h2 << 1) | h3;
-
- if ((prevState_ == 0x5) && (currState_ == 0x4)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x5 && currState_ == 0x1) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x4) && (currState_ == 0x6)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x4 && currState_ == 0x5) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x6) && (currState_ == 0x2)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x6 && currState_ == 0x4) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x2) && (currState_ == 0x3)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x2 && currState_ == 0x6) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x3) && (currState_ == 0x1)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x3 && currState_ == 0x2) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
-
- if ((prevState_ == 0x1) && (currState_ == 0x5)) {
- pulses_++;
- prevState_ = currState_;
- return;
- } else if (prevState_ == 0x1 && currState_ == 0x3) {
- pulses_--;
- prevState_ = currState_;
- return;
- }
- prevState_ = currState_;
-
-}