Diff: updater.h

Revision:

15:01fb4916a5cd

Parent:

0:a6a169de725f

--- a/updater.h	Thu Nov 29 16:59:39 2018 +0000
+++ b/updater.h	Thu Nov 29 17:11:34 2018 +0000
@@ -5,9 +5,18 @@
  * called at 100Hz by a timer interrupt
  */
 
+/** initialize throttle to center position */
+void initThrottle(void);
+
+/** initialize steering to center position */
+void initSteering(void);
+
 /** attach the update routine to Ticker interrupt */
 void startUpdater(void);
 
+/** detach the update routine from Ticker interrupt */
+void stopUpdater(void);
+
 /** Returns the elapsed time taken by the updater routine on its most recent run */
 int getUpdateTime(void);
 
@@ -20,6 +29,12 @@
 /** Tells the updater to re-initialize the navigation state */
 void restartNav(void);
 
+/** Sets the desired speed of the rover */
+void setSpeed(float speed);
+
+/** Sets the steering angle */
+void setSteering(float steerAngle);
+
 /** The function that is called at 100Hz. It reads sensors, performs estimation, and controls the robot */
 void update(void);