2018 revision to classic DataBus AVC code.
Dependencies: LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell
Diff: Updater.cpp
- Revision:
- 13:5566df1250f1
- Parent:
- 12:3cd91e150d9c
- Child:
- 14:1dd83e626153
diff -r 3cd91e150d9c -r 5566df1250f1 Updater.cpp --- a/Updater.cpp Wed Dec 12 17:32:24 2018 +0000 +++ b/Updater.cpp Wed Dec 12 17:38:02 2018 +0000 @@ -1,12 +1,14 @@ #include "Updater.h" -void Updater::gyro(int g[3]) +void Updater::gyro(int g[3], float& dt) { for (int i=0; i < 3; i++) { g[i] = _gyro[i]; } + dt = _dt; + return; } @@ -43,7 +45,7 @@ // Compute dt thisTime = t->read_us(); - //data.dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0 + _dt = (lastTime < 0) ? 0 : ((float) thisTime - (float) lastTime) / 1000.0; // first pass let dt=0 lastTime = thisTime; // Read encoders