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.h
- Revision:
- 12:235e318a414f
- Parent:
- 11:775ebb69d5e1
- Child:
- 13:a7c30ee09bae
--- a/Actuators/Hallsensor.h Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-#ifndef HALLSENSOR_H
-#define HALLSENSOR_H
-
-#include "mbed.h"
-
-/**
- * @author Christian Burri
- *
- * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
- * All rights reserved.
- *
- * @brief
- *
- * Interface to count the Hallsensor input from a EC-Motor.
- *
- */
-class Hallsensor
-{
-
-private:
-
- /**
- * @brief Update the pulse count.
- * Called on every rising/falling edge of Hall 1-3.
- * Reads the state of the channels and determines whether a pulse forward
- * or backward has occured, updating the count appropriately.
- */
- void encode(void);
-
- InterruptIn hall1_;
- InterruptIn hall2_;
- InterruptIn hall3_;
-
- int prevState_;
- int currState_;
-
- volatile int pulses_;
-
-public:
-
- /**
- * @brief Constructor of the class <code>Hallsensor</code>.
- *
- * Reads the current values on Hall1 , Hall2 and Hall3 to determine the
- * initial state.
- * Attaches the encode function to the rise/fall interrupt edges of
- * Hall1, Hall2 and Hall3.
- * @param hall1 mbed pin for Hall1 input.
- * @param hall2 mbed pin for Hall2 input.
- * @param hall3 mbed pin for Hall3 input.
- */
- Hallsensor(PinName hall1, PinName hall2, PinName hall3);
-
- /**
- * @brief Reset the encoder.
- * Sets the pulses and revolutions count to zero.
- */
- void reset(void);
-
- /**
- * @brief Read the number of pulses recorded by the encoder.
- * @return Number of pulses which have occured, given in [count]
- */
- int getPulses(void);
-
- /**
- * @brief Read the number of revolutions recorded by the encoder.
- * @return Number of revolutions which have occured on the index channel.
- */
- int getRevolutions(void);
-
-};
-
-#endif /* Hallsensor_H */