Esempio n. 1
0
void updateTrajectoryAndClearCoders() {
    updateTrajectoryWithNoThreshold();
    lastAngle = position.orientation - position.initialOrientation;
    clearCoders();
    lastLeft = 0;
    lastRight = 0;
}
Esempio n. 2
0
void initCoders(void) {
	// PortB as inputs for coders
	CODERS_TRIS = 0xFF;
	CODERS_PORT = 0xFF;

	canal = CODERS_PORT;

	CODERS_MASKA[0] = CODERS_MASKA_1;	
	CODERS_MASKB[0] = CODERS_MASKB_1;	
	CODERS_MASKZ[0] = CODERS_MASKZ_1;	
	CODERS_MASKA[1] = CODERS_MASKA_2;	
	CODERS_MASKB[1] = CODERS_MASKB_2;
	CODERS_MASKZ[1] = CODERS_MASKZ_2;

	clearCoders();
	registerInterrupt(CODER_TIMER_INDEX, 0, updateCoders);
}