E=MC / Mbed 2 deprecated figure_eight

Code for the car to drive in a figure eight motion

Dependencies:   mbed-rtos mbed MODSERIAL mbed-dsp telemetry

Diff: encoder.h

Revision:
13:97708869a4ba
Parent:
11:f8aa39c19477
--- a/encoder.h	Fri Mar 20 03:34:38 2015 +0000
+++ b/encoder.h	Fri Mar 20 04:04:04 2015 +0000
@@ -1,7 +1,12 @@
 #ifndef ENCODER_H
 #define ENCODER_H
 
+#include "mbed.h"
+
+
 class Encoder{
+    Timer t;
+    
     //Intervals used during encoder data collection to measure velocity
     int interval1;
     int interval2;
@@ -31,8 +36,8 @@
     float large_avg_speed_list [100];
     float small_avg_speed_list [10];
 public:
-    Encoder();
-    void velocity_control(float duty_cyc, float tuning_const);
+    Encoder(Timer t);
+    float velocity_control(float duty_cyc, float tuning_const);
     void fallInterrupt();
     void riseInterrupt();
 private: