Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
updater.h@0:826c6171fc1b, 2012-06-20 (annotated)
- Committer:
- shimniok
- Date:
- Wed Jun 20 14:57:48 2012 +0000
- Revision:
- 0:826c6171fc1b
Updated documentation
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | #ifndef __SCHEDULER_H |
shimniok | 0:826c6171fc1b | 2 | #define __SCHEDULER_H |
shimniok | 0:826c6171fc1b | 3 | |
shimniok | 0:826c6171fc1b | 4 | /** Updater is the main real time sensor update, estimation, and control routine that is |
shimniok | 0:826c6171fc1b | 5 | * called at 100Hz by a timer interrupt |
shimniok | 0:826c6171fc1b | 6 | */ |
shimniok | 0:826c6171fc1b | 7 | |
shimniok | 0:826c6171fc1b | 8 | /** Returns the elapsed time taken by the updater routine on its most recent run */ |
shimniok | 0:826c6171fc1b | 9 | int getUpdateTime(void); |
shimniok | 0:826c6171fc1b | 10 | |
shimniok | 0:826c6171fc1b | 11 | /** Indicates to the updater that the vehicle should begin its run */ |
shimniok | 0:826c6171fc1b | 12 | void beginRun(void); |
shimniok | 0:826c6171fc1b | 13 | |
shimniok | 0:826c6171fc1b | 14 | /** Indicates to the updater that the vehicle should abort its run */ |
shimniok | 0:826c6171fc1b | 15 | void endRun(void); |
shimniok | 0:826c6171fc1b | 16 | |
shimniok | 0:826c6171fc1b | 17 | /** Tells the updater to re-initialize the navigation state */ |
shimniok | 0:826c6171fc1b | 18 | void restartNav(void); |
shimniok | 0:826c6171fc1b | 19 | |
shimniok | 0:826c6171fc1b | 20 | /** The function that is called at 100Hz. It reads sensors, performs estimation, and controls the robot */ |
shimniok | 0:826c6171fc1b | 21 | void update(void); |
shimniok | 0:826c6171fc1b | 22 | |
shimniok | 0:826c6171fc1b | 23 | #endif |