reckon.h

00001 #ifndef RECKON_H
00002 #define RECKON_H
00003 
00004 #include "mbed.h"
00005 #include "ADNS5090.h"
00006 
00007 //TODO: include a function to swap motors if they are connected wrong.
00008 
00009 #define DEGREES(radians)((radians)*180/M_PI)
00010 
00011 class Reckon
00012 {
00013     public:
00014     
00015     ADNS5090&   optical_flow_L;
00016     ADNS5090&   optical_flow_R;    
00017     float r;
00018     
00019     float x;
00020     float y;
00021     float accX;
00022     float accY;
00023     float accZ;
00024     
00025     float flowX;
00026     float flowY;
00027     float flowYaw;
00028     float flow_dx_L;
00029     float flow_dx_R;
00030     float flow_dy_L;
00031     float flow_dy_R;
00032     float gyroYaw;
00033     
00034     Reckon(ADNS5090& L,ADNS5090& R, float radius);    
00035     
00036     static float reduce_angle( float &);
00037     
00038     float dest_angle(float x_dest, float y_dest);
00039     float dest_distance(float x_dest, float y_dest);
00040     
00041     bool updateOpticalFlow();               //new
00042     void reset();     
00043     
00044     private:    
00045     Timer frametime;
00046 };
00047 
00048 #endif