Diff: sensors.h

Revision:

0:8cfa73bb68e4

diff -r 000000000000 -r 8cfa73bb68e4 sensors.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensors.h	Tue May 31 17:04:59 2016 +0000
@@ -0,0 +1,39 @@
+#ifndef SENSORS_H
+#define SENSORS_H
+
+#include "mbed.h"
+
+#include "MPU6050.h"
+#include "QEI.h"
+
+#include "protocol.h"
+
+class Sensors {
+  
+  public:
+    
+    Sensors(
+      Timer *system_timer,
+      PinName voltage_pin,
+      PinName l_enc_a_pin, PinName l_enc_b_pin,
+      PinName r_enc_a_pin, PinName r_enc_b_pin, uint32_t tick_per_rev,
+      PinName imu_sda_pin, PinName imu_scl_pin);
+    
+    float get_voltage(void);
+    void get_encoders(int32_t (&encoders)[2]);
+    void get_angles(float* angles);
+    bool get_imu(sensor_data_t* sensor_data);
+
+    bool fill_sensor_packet(packet_t* packet);
+  
+  private:
+    
+    Timer* system_timer_;
+    AnalogIn voltage_pin_;
+    QEI left_qei_;
+    QEI right_qei_;
+    MPU6050 mpu6050_;
+    bool imu_ready_;
+};
+
+#endif
\ No newline at end of file