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: ActuatorsSensor/Hallsensor.cpp
- Revision:
- 12:235e318a414f
- Parent:
- 3:92ba0254af87
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ActuatorsSensor/Hallsensor.cpp Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,115 @@
+#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_;
+
+}