Revision 890
Changed some odometry stuff. Interrupt is called now.
Still some problem that is not updating x and y data.
| odometry.c | ||
|---|---|---|
| 25 | 25 |
void odometry_init(void){
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| 26 | 26 |
encoder_init(); |
| 27 | 27 |
odometry_reset(); |
| 28 |
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| 29 |
//CTC Mode. CLK / 1024 |
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| 30 |
TCCR2 = 0; // (Fully disconnected) |
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| 31 |
TCCR2 = _BV(WGM21) | _BV(CS22) | _BV(CS20); //CLK/1024 , CTC Mode. |
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| 32 |
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| 33 |
TIMSK |= _BV(OCIE2); |
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| 34 |
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| 35 |
OCR2 = ODOMETRY_CLK; |
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| 28 | 36 |
} |
| 29 | 37 |
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| 30 | 38 |
void odometry_reset(void){
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| 31 | 39 |
diff_x = 0; |
| 32 | 40 |
diff_y = 0; |
| 33 | 41 |
angle = 0.0; |
| 34 |
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| 35 |
//CTC Mode. CLK / 1024 |
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| 36 |
TCCR2 = 0; // (Fully disconnected) |
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| 37 |
TCCR2 = _BV(WGM32) | _BV(CS32) | _BV(CS30); //CLK/1024 , CTC Mode. |
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| 38 |
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| 39 |
OCR2 = ODOMETRY_CLK; |
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| 40 | 42 |
} |
| 41 | 43 |
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| 42 | 44 |
void odometry_run(void){
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| 43 |
usb_puts("*");
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| 44 | 45 |
int v_l, v_r; |
| 45 | 46 |
float omega; |
| 46 | 47 |
int encoder_left, encoder_right; |
Also available in: Unified diff