Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

updater.h@0:a6a169de725f, 2013-05-27 (annotated)

Committer:
shimniok
Date:
Mon May 27 13:26:03 2013 +0000
Revision:
0:a6a169de725f
Child:
15:01fb4916a5cd
Working version with priorities set and update time display

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #ifndef __SCHEDULER_H
shimniok 0:a6a169de725f 2 #define __SCHEDULER_H
shimniok 0:a6a169de725f 3
shimniok 0:a6a169de725f 4 /** Updater is the main real time sensor update, estimation, and control routine that is
shimniok 0:a6a169de725f 5 * called at 100Hz by a timer interrupt
shimniok 0:a6a169de725f 6 */
shimniok 0:a6a169de725f 7
shimniok 0:a6a169de725f 8 /** attach the update routine to Ticker interrupt */
shimniok 0:a6a169de725f 9 void startUpdater(void);
shimniok 0:a6a169de725f 10
shimniok 0:a6a169de725f 11 /** Returns the elapsed time taken by the updater routine on its most recent run */
shimniok 0:a6a169de725f 12 int getUpdateTime(void);
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 /** Indicates to the updater that the vehicle should begin its run */
shimniok 0:a6a169de725f 15 void beginRun(void);
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 /** Indicates to the updater that the vehicle should abort its run */
shimniok 0:a6a169de725f 18 void endRun(void);
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20 /** Tells the updater to re-initialize the navigation state */
shimniok 0:a6a169de725f 21 void restartNav(void);
shimniok 0:a6a169de725f 22
shimniok 0:a6a169de725f 23 /** The function that is called at 100Hz. It reads sensors, performs estimation, and controls the robot */
shimniok 0:a6a169de725f 24 void update(void);
shimniok 0:a6a169de725f 25
shimniok 0:a6a169de725f 26 #endif