Diff: reckon/reckon.h

Revision:

0:964eb6a2ef00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/reckon/reckon.h	Wed Mar 18 22:23:48 2015 +0000
@@ -0,0 +1,48 @@
+#ifndef RECKON_H
+#define RECKON_H
+
+#include "mbed.h"
+#include "ADNS5090.h"
+
+//TODO: include a function to swap motors if they are connected wrong.
+
+#define DEGREES(radians)((radians)*180/M_PI)
+
+class Reckon
+{
+    public:
+    
+    ADNS5090&   optical_flow_L;
+    ADNS5090&   optical_flow_R;    
+    float r;
+    
+    float x;
+    float y;
+    float accX;
+    float accY;
+    float accZ;
+    
+    float flowX;
+    float flowY;
+    float flowYaw;
+    float flow_dx_L;
+    float flow_dx_R;
+    float flow_dy_L;
+    float flow_dy_R;
+    float gyroYaw;
+    
+    Reckon(ADNS5090& L,ADNS5090& R, float radius);    
+    
+    static float reduce_angle( float &);
+    
+    float dest_angle(float x_dest, float y_dest);
+    float dest_distance(float x_dest, float y_dest);
+    
+    bool updateOpticalFlow();               //new
+    void reset();     
+    
+    private:    
+    Timer frametime;
+};
+
+#endif
\ No newline at end of file