Diff: Updater.h

Revision:

22:dc54ca6e6eec

Parent:

15:01fb4916a5cd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Updater.h	Thu Nov 29 19:45:49 2018 +0000
@@ -0,0 +1,45 @@
+#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
+ */
+class Updater {
+public:
+
+    /** attach the update routine to Ticker interrupt */
+    void start(void);
+
+    /** detach the update routine from Ticker interrupt */
+    void stop(void);
+
+    /** Tells the updater to re-initialize the navigation state */
+    void restartNav(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);
+    
+    /** Returns the elapsed time taken by the updater routine on its most recent run */
+    int getUpdateTime(void);
+
+    /** Sets the desired speed of the rover */
+    void setSpeed(float speed);
+    
+    /** The function that is called at 100Hz. It reads sensors, performs estimation, and controls the robot */
+    void update(void);
+    
+    /** initialize throttle to center position */
+    void initThrottle(void);
+
+    /** initialize steering to center position */
+    void initSteering(void);
+
+    /** Sets the steering angle */
+    void setSteering(float steerAngle);
+    
+}
+
+#endif