Michael Shimniok / Mbed 2 deprecated DataBus

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@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
22:dc54ca6e6eec 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #ifndef __SCHEDULER_H
shimniok 0:a6a169de725f 2 #define __SCHEDULER_H
shimniok 0:a6a169de725f 3
shimniok 0:a6a169de725f 4 /** Updater is the main real time sensor update, estimation, and control routine that is
shimniok 0:a6a169de725f 5 * called at 100Hz by a timer interrupt
shimniok 0:a6a169de725f 6 */
shimniok 22:dc54ca6e6eec 7 class Updater {
shimniok 22:dc54ca6e6eec 8 public:
shimniok 0:a6a169de725f 9
shimniok 22:dc54ca6e6eec 10 /** attach the update routine to Ticker interrupt */
shimniok 22:dc54ca6e6eec 11 void start(void);
shimniok 15:01fb4916a5cd 12
shimniok 22:dc54ca6e6eec 13 /** detach the update routine from Ticker interrupt */
shimniok 22:dc54ca6e6eec 14 void stop(void);
shimniok 0:a6a169de725f 15
shimniok 22:dc54ca6e6eec 16 /** Tells the updater to re-initialize the navigation state */
shimniok 22:dc54ca6e6eec 17 void restartNav(void);
shimniok 15:01fb4916a5cd 18
shimniok 22:dc54ca6e6eec 19 /** Indicates to the updater that the vehicle should begin its run */
shimniok 22:dc54ca6e6eec 20 void beginRun(void);
shimniok 0:a6a169de725f 21
shimniok 22:dc54ca6e6eec 22 /** Indicates to the updater that the vehicle should abort its run */
shimniok 22:dc54ca6e6eec 23 void endRun(void);
shimniok 22:dc54ca6e6eec 24
shimniok 22:dc54ca6e6eec 25 /** Returns the elapsed time taken by the updater routine on its most recent run */
shimniok 22:dc54ca6e6eec 26 int getUpdateTime(void);
shimniok 0:a6a169de725f 27
shimniok 22:dc54ca6e6eec 28 /** Sets the desired speed of the rover */
shimniok 22:dc54ca6e6eec 29 void setSpeed(float speed);
shimniok 22:dc54ca6e6eec 30
shimniok 22:dc54ca6e6eec 31 /** The function that is called at 100Hz. It reads sensors, performs estimation, and controls the robot */
shimniok 22:dc54ca6e6eec 32 void update(void);
shimniok 22:dc54ca6e6eec 33
shimniok 22:dc54ca6e6eec 34 /** initialize throttle to center position */
shimniok 22:dc54ca6e6eec 35 void initThrottle(void);
shimniok 15:01fb4916a5cd 36
shimniok 22:dc54ca6e6eec 37 /** initialize steering to center position */
shimniok 22:dc54ca6e6eec 38 void initSteering(void);
shimniok 15:01fb4916a5cd 39
shimniok 22:dc54ca6e6eec 40 /** Sets the steering angle */
shimniok 22:dc54ca6e6eec 41 void setSteering(float steerAngle);
shimniok 22:dc54ca6e6eec 42
shimniok 22:dc54ca6e6eec 43 }
shimniok 0:a6a169de725f 44
shimniok 0:a6a169de725f 45 #endif