File content as of revision 9:d3909d9325e4:

#ifndef ENCODER_H
#define ENCODER_H

class Statechart{
    //Intervals used during encoder data collection to measure velocity
    int interval1;
    int interval2;
    int interval3;
    int avg_interval;
    int lastchange1;
    int lastchange2;
    int lastchange3;
    int lastchange4;
    
    //Variables used to for velocity control
    float avg_speed;
    float stall_check;
    float tuning_val;
    
    // Servo parameters
    float lastTurnTime;
    bool servoLeft;
    
    //Parameters specifying sample sizes and delays for small and large average speed samples
    float num_samples_small;
    float delay_small;
    float num_samples_large;
    float delay_large;
    
    // Large and small arrays used to get average velocity values
    float large_avg_speed_list [100];
    float small_avg_speed_list [10];
public:
    Rectangle();
    void velocity_control(float duty_cyc, float tuning_const);
    void fallInterrupt();
    void riseInterrupt();
private:
    // Internal functions
    float get_speed();
    float get_avg_speed(float num_samples, float delay);
    
    
    
};

Encoder::Encoder(){
    
    //Initialize Intervals used during encoder data collection to measure velocity
    interval1=0;
    interval2=0;
    interval3=0;
    avg_interval=0;
    lastchange1 = 0;
    lastchange2 = 0;
    lastchange3 = 0;
    lastchange4 = 0;
    
    //Initialize Variables used to for velocity control
    avg_speed = 0;
    stall_check = 0;
    tuning_val = 1;
    
    // Servo parameters
    lastTurnTime = 0.0f;
    servoLeft = true;
    
    //Parameters specifying sample sizes and delays for small and large average speed samples
    num_samples_small = 10.0f;
    delay_small = 0.05f;
    num_samples_large = 100.0f;
    delay_large = 0.1f;
    
}
#endif