Diff: Kalman.cpp
- Revision:
- 1:4964fa534202
- Parent:
- 0:e238496b8073
- Child:
- 2:8aa491f77a0b
--- a/Kalman.cpp Thu Apr 26 19:11:11 2012 +0000
+++ b/Kalman.cpp Thu Apr 26 19:28:32 2012 +0000
@@ -14,9 +14,32 @@
#include <tvmet/Vector.h>
using namespace tvmet;
-Kalman::Kalman(Motors &motorsin) :
+Kalman::Kalman(Motors &motorsin,
+ PinName Sonar_Trig,
+ PinName Sonar_Echo0,
+ PinName Sonar_Echo1,
+ PinName Sonar_Echo2,
+ PinName Sonar_Echo3,
+ PinName Sonar_Echo4,
+ PinName Sonar_Echo5,
+ PinName Sonar_SDI,
+ PinName Sonar_SDO,
+ PinName Sonar_SCK,
+ PinName Sonar_NCS,
+ PinName Sonar_NIRQ) :
ir(*this),
- sonararray(p10,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9),
+ sonararray(Sonar_Trig,
+ Sonar_Echo0,
+ Sonar_Echo1,
+ Sonar_Echo2,
+ Sonar_Echo3,
+ Sonar_Echo4,
+ Sonar_Echo5,
+ Sonar_SDI,
+ Sonar_SDO,
+ Sonar_SCK,
+ Sonar_NCS,
+ Sonar_NIRQ),
motors(motorsin),
predictthread(predictloopwrapper, this, osPriorityNormal, 512),
predictticker( SIGTICKARGS(predictthread, 0x1) ),