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@8:78b1ff957cba, 2014-02-22 (annotated)

Committer:
DavidEGrayson
Date:
Sat Feb 22 02:23:21 2014 +0000
Revision:
8:78b1ff957cba
Child:
9:9734347b5756
refactored into many files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DavidEGrayson 8:78b1ff957cba 1 #include "encoders.h"
DavidEGrayson 8:78b1ff957cba 2
DavidEGrayson 8:78b1ff957cba 3 const PinName encoderPin1A = p6,
DavidEGrayson 8:78b1ff957cba 4 encoderPin1B = p7,
DavidEGrayson 8:78b1ff957cba 5 encoderPin2A = p8,
DavidEGrayson 8:78b1ff957cba 6 encoderPin2B = p9;
DavidEGrayson 8:78b1ff957cba 7
DavidEGrayson 8:78b1ff957cba 8 PololuEncoderBuffer encoderBuffer;
DavidEGrayson 8:78b1ff957cba 9 PololuEncoder encoder1(encoderPin1A, encoderPin1B, &encoderBuffer, ENCODER1);
DavidEGrayson 8:78b1ff957cba 10 PololuEncoder encoder2(encoderPin2A, encoderPin2B, &encoderBuffer, ENCODER2);
DavidEGrayson 8:78b1ff957cba 11
DavidEGrayson 8:78b1ff957cba 12 void encoders_init()
DavidEGrayson 8:78b1ff957cba 13 {
DavidEGrayson 8:78b1ff957cba 14 DigitalIn(encoderPin1A).mode(PullUp);
DavidEGrayson 8:78b1ff957cba 15 DigitalIn(encoderPin1B).mode(PullUp);
DavidEGrayson 8:78b1ff957cba 16 DigitalIn(encoderPin2A).mode(PullUp);
DavidEGrayson 8:78b1ff957cba 17 DigitalIn(encoderPin2B).mode(PullUp);
DavidEGrayson 8:78b1ff957cba 18 wait_us(50);
DavidEGrayson 8:78b1ff957cba 19 encoder1.init();
DavidEGrayson 8:78b1ff957cba 20 encoder2.init();
DavidEGrayson 8:78b1ff957cba 21 }