File content as of revision 25:bb5356402687:

#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