Diff: Updater.h

Revision:

14:1dd83e626153

Parent:

13:5566df1250f1

Child:

15:35c40765f7c3

--- a/Updater.h	Wed Dec 12 17:38:02 2018 +0000
+++ b/Updater.h	Wed Dec 12 18:21:57 2018 +0000
@@ -6,15 +6,36 @@
 
 class Updater: private mbed::NonCopyable<Updater> {
 public:
+    /** Start the updater running - cannot be exited!
+     * @param interval_ms is the interval in ms between calls to update()
+     * @note Makes use of RTOS EventQueue and Event.
+     */
     void start(int interval_ms);
+
+    /// Return singleton instance
     static Updater *instance();
+    
+    /** Get gyro values
+     * @return g array of x, y, and z gyro values
+     * @return dt time since data last updated
+     */
     void gyro(int g[3], float& dt);
-      
+    
+    /** Get encoder count
+     * @return encoder count since last call
+     */
+    int encoder();
+
 private:
-    Updater() {} // parameterize
-    Timer *t;
-    void update();
-    int _gyro[3];
+    /// Basic constructor (singleton)
+    Updater() {}
+    
+    /// Update all sensors
+    void update(); 
+    
+    Timer *t; // timer used to measure dt
+    int _gyro[3]; // gyro raw
+    int _ecount; // encoder count
     float _dt;
     int thisTime;
     int lastTime;