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
Diff: updater.h
- Revision:
- 0:a6a169de725f
- Child:
- 15:01fb4916a5cd
diff -r 000000000000 -r a6a169de725f updater.h --- /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