Diff: quadcopter.h

Revision:

9:f1bd96708a21

Parent:

8:326e7009ce0c

Child:

10:e7d1801e966a

--- a/quadcopter.h	Sat Apr 02 13:47:58 2016 +0000
+++ b/quadcopter.h	Sat Apr 02 14:54:46 2016 +0000
@@ -3,6 +3,7 @@
 
 #include "mbed.h"
 #include "Adafruit_9DOF.h"
+#include "Serial_base.h"
 
 
 struct state {
@@ -35,8 +36,14 @@
 Adafruit_LSM303_Mag_Unified mag_;
 Adafruit_L3GD20_Unified gyro_;
 
+   sensors_event_t accel_event_;
+    sensors_event_t mag_event_;
+    sensors_event_t gyro_event_;
+    sensors_vec_t   orientation_;
+
 offset offsetAngRate_;
 offset offsetAttitude_;
+Serial *pcPntr_;
 
 
 public:
@@ -44,15 +51,18 @@
 
     void setState(double phi, double theta, double psi);
     
-    state getState() {
+    /*state getState() {
         return state_;
-    }
+    } */
+    
     void setPwm();
     void initializePwm();
     void controller();
     void setState();
     void readSensorValues();
-    void initSensors();
+    void initAllSensors();
+    void setSerial(Serial *pcPntr){pcPntr_=pcPntr;};
+    void print(char * myString);
 };
 
 #endif
\ No newline at end of file