Diff: global.h

Revision:

3:dfb6733ae397

Parent:

2:2bc519e14bae

Child:

5:f655435d0782

--- a/global.h	Sun Mar 13 17:55:42 2016 +0000
+++ b/global.h	Mon Mar 14 00:40:28 2016 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "rtos.h"
+#include "Pixy.h"
 
 // ----------------------------------------------------------------
 // Contains common defintions share between modes
@@ -16,12 +17,16 @@
 extern DigitalOut ioReset;
 
 // Comunication 
-extern PwmOut leftPwm; 
-extern PwmOut rightPwm; 
 extern SPI deSpi;
+extern Pixy pixy;
 extern Serial pc; // PC serial channel
 extern Serial bt; // Bluetooth serial channel
 
+// Other
+extern PwmOut leftPwm; 
+extern PwmOut rightPwm; 
+extern InterruptIn bumper;  // External interrupt pin declared as Bumper
+
 // Method prototypes
-void PI(float *xState, float *u, float setPoint, float kP, float kI, float feedback, float bound);
-float QE2RadsPerSec(int counts, int time);
\ No newline at end of file
+void PI(float error, float *output, float *integral, float kP, float kI, float bound);
+float QE2RadsPerSec(short counts, short time);
\ No newline at end of file