File content as of revision 14:1dd83e626153:

#ifndef __UPDATER_H
#define __UPDATER_H

#include "mbed.h"
#include "L3G4200D.h"

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:
    /// 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;
};

#endif