Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: updater.h
- Revision:
- 0:826c6171fc1b
diff -r 000000000000 -r 826c6171fc1b updater.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/updater.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,23 @@ +#ifndef __SCHEDULER_H +#define __SCHEDULER_H + +/** Updater is the main real time sensor update, estimation, and control routine that is + * called at 100Hz by a timer interrupt + */ + +/** Returns the elapsed time taken by the updater routine on its most recent run */ +int getUpdateTime(void); + +/** Indicates to the updater that the vehicle should begin its run */ +void beginRun(void); + +/** Indicates to the updater that the vehicle should abort its run */ +void endRun(void); + +/** Tells the updater to re-initialize the navigation state */ +void restartNav(void); + +/** The function that is called at 100Hz. It reads sensors, performs estimation, and controls the robot */ +void update(void); + +#endif