turn_sensor.h

00001 #pragma once
00002 
00003 #include <mbed.h>
00004 
00005 class TurnSensor
00006 {
00007     // TODO: for production code, you would want a way to set the gyro offset
00008 
00009     public:
00010 
00011     void reset();
00012     void start();
00013     void update();
00014     
00015     int32_t getAngle()
00016     {
00017         return (int32_t)angleUnsigned;
00018     }
00019     
00020     uint32_t getAngleUnsigned()
00021     {
00022         return angleUnsigned;
00023     }
00024     
00025     int16_t getAngleDegrees()
00026     {
00027         return (((int32_t)angleUnsigned >> 16) * 360) >> 16;
00028     }
00029     
00030     int32_t getAngleMillidegrees()
00031     {
00032         return ((int64_t)(int32_t)angleUnsigned * 360000) >> 32;
00033     }
00034     
00035     int16_t getRate()
00036     {
00037         return rate;
00038     }
00039     
00040     private:
00041 
00042     Timer timer;
00043     uint32_t angleUnsigned;
00044     int16_t rate;
00045     uint16_t gyroLastUpdate;
00046 };
00047 
00048 
00049 // This constant represents a turn of 45 degrees.
00050 const int32_t turnAngle45 = 0x20000000;
00051 
00052 // This constant represents a turn of 90 degrees.
00053 const int32_t turnAngle90 = turnAngle45 * 2;
00054 
00055 // This constant represents a turn of approximately 1 degree.
00056 const int32_t turnAngle1 = (turnAngle45 + 22) / 45;