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
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 22:dc54ca6e6eec
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