Diff: Updater.cpp

Revision:

15:35c40765f7c3

Parent:

14:1dd83e626153

Child:

25:b8176ebb96c6

--- a/Updater.cpp	Wed Dec 12 18:21:57 2018 +0000
+++ b/Updater.cpp	Thu Dec 13 00:30:59 2018 +0000
@@ -2,24 +2,6 @@
 #include "pinouts.h"
 #include "IncrementalEncoder.h"
 
-void Updater::gyro(int g[3], float& dt) 
-{
-    for (int i=0; i < 3; i++) {
-        g[i] = _gyro[i];
-    }
-    dt = _dt;
-    
-    return;
-}
-
-int Updater::encoder()
-{
-    int result=_ecount;
-    _ecount = 0;
-    
-    return result;    
-}
-
 Updater *Updater::instance() 
 {
     static Updater instance;
@@ -28,7 +10,14 @@
 }
 
 
-void Updater::start(int interval_ms)
+void Updater::setInterval(int interval_ms)
+{
+    _interval = interval_ms;
+    return;
+}
+
+
+void Updater::start()
 {
     Timer timer;
     
@@ -36,12 +25,13 @@
     lastTime = 0; 
     t = &timer;
     t->start();
-   
+       
     EventQueue *queue = mbed_highprio_event_queue();
     Event<void()> event(queue, callback(this, &Updater::update));
-    event.period(interval_ms);
+    event.period(_interval);
     event.post();
     queue->dispatch_forever();
+    return;
 }
 
 
@@ -77,4 +67,25 @@
     led2 = !led2;
 
     return;
-}
\ No newline at end of file
+}
+
+
+void Updater::gyro(int g[3], float& dt) 
+{
+    for (int i=0; i < 3; i++) {
+        g[i] = _gyro[i];
+    }
+    dt = _dt;
+    
+    return;
+}
+
+
+int Updater::encoder()
+{
+    int result=_ecount;
+    _ecount = 0;
+    
+    return result;    
+}
+