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
Diff: encoders.cpp
- Revision:
- 8:78b1ff957cba
- Child:
- 9:9734347b5756
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoders.cpp Sat Feb 22 02:23:21 2014 +0000 @@ -0,0 +1,21 @@ +#include "encoders.h" + +const PinName encoderPin1A = p6, + encoderPin1B = p7, + encoderPin2A = p8, + encoderPin2B = p9; + +PololuEncoderBuffer encoderBuffer; +PololuEncoder encoder1(encoderPin1A, encoderPin1B, &encoderBuffer, ENCODER1); +PololuEncoder encoder2(encoderPin2A, encoderPin2B, &encoderBuffer, ENCODER2); + +void encoders_init() +{ + DigitalIn(encoderPin1A).mode(PullUp); + DigitalIn(encoderPin1B).mode(PullUp); + DigitalIn(encoderPin2A).mode(PullUp); + DigitalIn(encoderPin2B).mode(PullUp); + wait_us(50); + encoder1.init(); + encoder2.init(); +} \ No newline at end of file