2018 revision to classic DataBus AVC code.
Dependencies: LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell
Diff: Updater.cpp
- Revision:
- 14:1dd83e626153
- Parent:
- 13:5566df1250f1
- Child:
- 15:35c40765f7c3
diff -r 5566df1250f1 -r 1dd83e626153 Updater.cpp --- a/Updater.cpp Wed Dec 12 17:38:02 2018 +0000 +++ b/Updater.cpp Wed Dec 12 18:21:57 2018 +0000 @@ -1,17 +1,24 @@ #include "Updater.h" - +#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() { @@ -41,7 +48,8 @@ void Updater::update() { static DigitalOut led2(LED2); - static L3G4200D gyro(p9, p10); // TODO parameterize + static L3G4200D gyro(I2CSDA, I2CSCL); // TODO parameterize + static IncrementalEncoder enc(ALEFT); // Compute dt thisTime = t->read_us(); @@ -49,6 +57,8 @@ lastTime = thisTime; // Read encoders + _ecount += enc.read(); + // Read gyro gyro.read(_gyro);