Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Diff: Headers/Sensors.h

Revision:
1:cfe6a6ad8dca
Parent:
0:c2ec30f28676
Child:
2:997f57aee3b7
--- a/Headers/Sensors.h	Sat Mar 29 03:06:46 2014 +0000
+++ b/Headers/Sensors.h	Sat Mar 29 13:25:23 2014 +0000
@@ -7,8 +7,25 @@
 
 L3GD20 gyro(p9, p10);
 LSM303DLHC compass(p9, p10);
-
+PwmOut ledF(p23);
+PwmOut ledR(p21);
+PwmOut ledL(p22);
+AnalogIn SenseR(p15);
+AnalogIn SenseL(p16);
+AnalogIn SenseF(p17);
 
-
+float alpha = 0.2f;
+float valL = 0.0;
+float valR = 0.0;
+float accL = 0;
+float accR = 0;
+        
+void collectSample()
+{
+    valL = SenseL.read();
+    valR = SenseR.read();           
+    accL = (alpha * valL) + (1.0 - alpha) * accL;
+    accR = (alpha * valR) + (1.0 - alpha) * accR;
+}
 
 #endif
\ No newline at end of file