David Grayson / Mbed 2 deprecated DeadReckoning

David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.

Dependencies:   PololuEncoder Pacer mbed GeneralDebouncer

Diff: l3g.h

Revision:
42:96671b71aac5
Parent:
40:6fa672be85ec
--- a/l3g.h	Thu Jul 25 03:20:41 2019 +0000
+++ b/l3g.h	Sat Jul 27 20:58:46 2019 +0000
@@ -5,4 +5,14 @@
 int32_t l3gReadReg(char reg);
 int32_t l3gWriteReg(char reg, char value);
 int32_t l3gZRead();
-int32_t l3gZAvailable();
\ No newline at end of file
+int32_t l3gZAvailable();
+
+// Takes one reading and record it for the purposes of zero-rate calibrations.
+// Returns the reading just in case you want it for something.
+int32_t l3gCalibrate();
+
+bool l3gCalibrateDone();
+
+void l3gCalibrateReset();
+
+int32_t l3gZReadCalibrated();