odometer.h

00001 #ifndef odometer_H
00002 #define odometer_H
00003 
00004 #include "mbed.h"
00005 #include "generalFunctions.h"
00006 #include "QEI.h"
00007 #include "config.h"
00008 #include "orion_pinmapping.h"
00009 
00010 
00011 class odometer
00012 {
00013 public:
00014     odometer();
00015     void update();
00016     void init();
00017     //void getRevolutions(float *revolutions[2]);
00018     //void getRPM(float *rpm[2]);
00019     
00020     float revolutions[2];
00021     float rpm[2];
00022     
00023 private:
00024     QEI encLeft;
00025     QEI encRight;
00026     
00027     Timer enc_timer;
00028     float timer_s;
00029     
00030     uint16_t movWindow_len;
00031     uint16_t movWindow_index;
00032     float encRes;
00033     
00034     static const unsigned int movWindow_lenMax = 64; //to prevent excessive RAM usage at program runtime
00035     
00036     int32_t pulse_counter[2][2]; // [0:left / 1:right], [0:previous / 1:current]
00037     float rpmWindow_left[movWindow_lenMax]; // [movWindow_index: instantaneous velocity in rpm]
00038     float rpmWindow_right[movWindow_lenMax]; // [movWindow_index: instantaneous velocity in rpm]
00039     
00040     float filtered_reading[2][2]; // [0:left / 1:right], [0:revolutions / 1:velocity in rpm]
00041 };
00042 
00043 
00044 #endif