Thomas Lew / Mbed 2 deprecated FreeFlyerROS

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Dependencies:   mbed ros_lib_kinetic

Diff: FreeFlyerHardware.h

Revision:
5:864709d3eb76
Parent:
4:cae255669971
Child:
7:794bd40830c1
--- a/FreeFlyerHardware.h	Fri Jun 29 02:30:38 2018 +0000
+++ b/FreeFlyerHardware.h	Fri Jun 29 17:49:40 2018 +0000
@@ -29,6 +29,7 @@
     float getPWMOut();
     void setPWMOut(float pwm_out);
     void setPIDSetpoint(float pid_setpoint);
+    float getWheelVelocity();
     
     float duty_cycle_cmd_;          // Only for duty cycle command mode
     bool duty_cycle_command_mode_;
@@ -36,13 +37,13 @@
     
     RGBA_LED *rgba_led_;
     
-    QEI *wheel_encoder_; // object to interact with encoder outputs
-    
 protected:
     int NUM_THRUSTERS;
     
     PID *controller_;
     
+    QEI *wheel_encoder_; // object to interact with encoder outputs
+    
     int thruster_pwm_stop_[8];       // Number that the PWM count reaches before each thruster turns off
     int thruster_pwm_clock_;