Diff: updater.h

Revision:

0:a6a169de725f

Child:

15:01fb4916a5cd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/updater.h	Mon May 27 13:26:03 2013 +0000
@@ -0,0 +1,26 @@
+#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
+ */
+
+/** attach the update routine to Ticker interrupt */
+void startUpdater(void);
+
+/** 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