2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Processes/Kalman/Kalman.h
- Committer:
- rsavitski
- Date:
- 2013-04-09
- Revision:
- 24:50805ef8c499
- Parent:
- 20:70d651156779
- Child:
- 25:b16f1045108f
File content as of revision 24:50805ef8c499:
#ifndef KALMAN_H #define KALMAN_H #include "globals.h" #include "rtos.h" namespace Kalman { //Accessor function to get the state as one consistent struct State getState(); //Main loops (to be attached as a thread in main) void predictloop(void const *dummy); void updateloop(void const *dummy); void start_predict_ticker(Thread* predict_thread_ptr_in); enum measurement_t {SONAR0 = 0, SONAR1, SONAR2, IR0, IR1, IR2}; const measurement_t maxmeasure = IR2; //Call this to run an update void runupdate(measurement_t type, float value, float variance); extern float RawReadings[maxmeasure+1]; extern float IRpahseOffset; extern bool Kalman_inited; //Initialises the kalman filter void KalmanInit(); } #endif //KALMAN_H