Diff: SensorNode.h

Revision:

0:1f9ada316815

Child:

1:fbb17be9a65d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorNode.h	Thu Jan 12 20:44:36 2012 +0000
@@ -0,0 +1,42 @@
+/*
+ * File: SensorNode/SensorNode.h
+ * Author: William Jessup Salisbury
+ * Company: Tufts Hybrid Racing Team
+ * Copyright: CC BY-NC-SA 3.0
+ * Date: 1/12/2012
+ */
+
+#ifndef SENSOR_NODE_H
+#define SENSOR_NODE_H
+
+#include "mbed.h"
+
+const PinName CAN_RX = p9;
+const PinName CAN_TX = p10;
+const PinName LW_PIN = p11;
+const PinName RW_PIN = p12;
+
+const int ticksPerRevolution = 32;
+const int tickerTimeout = 1;
+
+class SensorNode {
+public:
+    SensorNode();
+    ~SensorNode();
+private:
+    inline void Reset();
+    void leftTick();
+    void rightTick();
+    void canSend();
+    void canReceive();
+    
+    InterruptIn _leftWheel, _rightWheel;
+    CAN _can;
+    Serial _console;
+    Ticker _statusTicker;
+    volatile int _leftTicks, _rightTicks;
+    volatile int _leftRevolutions, _rightRevolutions;
+    volatile char _syncID;
+};
+
+#endif