David Grayson / Mbed 2 deprecated LineFollowing

David's line following code from the LVBots competition, 2015.

Dependencies:   GeneralDebouncer Pacer PololuEncoder mbed

Fork of DeadReckoning by David Grayson

Diff: turn_sensor.h

Revision:
50:517c0f0e621f
Parent:
44:edcacba44760
Child:
52:05a8e919ddb0
--- a/turn_sensor.h	Wed Apr 15 21:58:21 2015 +0000
+++ b/turn_sensor.h	Wed Apr 15 22:53:33 2015 +0000
@@ -8,6 +8,7 @@
 
     public:
 
+    void reset();
     void start();
     void update();
     
@@ -32,4 +33,14 @@
     uint32_t angleUnsigned;
     int16_t rate;
     uint16_t gyroLastUpdate;
-};
\ No newline at end of file
+};
+
+
+// This constant represents a turn of 45 degrees.
+const int32_t turnAngle45 = 0x20000000;
+
+// This constant represents a turn of 90 degrees.
+const int32_t turnAngle90 = turnAngle45 * 2;
+
+// This constant represents a turn of approximately 1 degree.
+const int32_t turnAngle1 = (turnAngle45 + 22) / 45;
\ No newline at end of file